Add files using upload-large-folder tool

dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t0_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Head toward the rusted orange garage door on the brick building.",
+    "Type": 0,
+    "Start_Pose": [
+        -14.484,
+        135.01,
+        202.152,
+        0.0,
+        70.08,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -14.484,
+            135.01,
+            202.152,
+            0.0,
+            70.08,
+            -0.0
+        ],
+        [
+            -14.484,
+            135.01,
+            202.152,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -25.628,
+            260.375,
+            206.291,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -36.773,
+            385.739,
+            211.124,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -47.917,
+            511.104,
+            211.244,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -59.062,
+            636.469,
+            209.955,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -70.206,
+            761.833,
+            209.955,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -70.206,
+            761.833,
+            209.955,
+            0.0,
+            120.08,
+            -0.0
+        ],
+        [
+            -133.288,
+            870.742,
+            207.773,
+            0.0,
+            120.08,
+            -0.0
+        ],
+        [
+            -196.369,
+            979.651,
+            204.398,
+            0.0,
+            120.08,
+            -0.0
+        ],
+        [
+            -259.451,
+            1088.561,
+            214.553,
+            0.0,
+            120.08,
+            -0.0
+        ],
+        [
+            -259.451,
+            1088.561,
+            214.553,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -270.595,
+            1213.925,
+            224.656,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -270.595,
+            1213.925,
+            224.656,
+            0.0,
+            95.08,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Scanning the yard, I can see several bays along the brick facades, and the rust-streaked orange panel sits well off to my right beyond the pale metal doors. My current heading points across the pipes and rail scrap instead of at that bay, so I will turn right to bring the rusted door nearer the center of my view.",
+        "The rusted orange door on the brick wall is now roughly ahead of me, just right of center between the pale metal doors and the tall window bay. The paved yard in front is open apart from low rails, so I will move forward to start closing the distance.",
+        "The rusted door has grown noticeably larger and its orange staining is clearer, confirming my heading is taking me toward it. The ground ahead stays open, so I will continue forward.",
+        "The gabled brick wall with the rusted orange bay now fills much of my view and the sacks piled at its base are clearly resolved. I am still several strides short of the door, so I will keep pressing forward.",
+        "The rusted orange door stands just right of center with its metal panel and weeds at the threshold clearly visible. There is still open ground between me and the wall, so I will advance again.",
+        "The wall is close enough that I can read individual bricks, and the orange rust streaks on the target door are vivid to the right of the sack pile. Another forward step should bring me into the immediate area of that bay.",
+        "I am now right up against the brick facade, and the rusted orange door sits off to my right rather than straight ahead, with plain brickwork filling the center of my view. I will turn right to put that door back on my heading before advancing further.",
+        "With the turn done, the rusted orange door is now in front of me on the brick wall, framed between the sack pile and the steel stair frame. The sandy ground toward it looks clear, so I will move forward to close the last of the gap.",
+        "The rusted orange garage door now dominates the left half of my view on the brick wall, with open sandy ground between me and its base. I will move forward again to keep closing that remaining gap along the wall.",
+        "The corroded door panels have grown much larger and its frame edge is clearly visible, so I am now quite near the brick building. Another forward step should bring me right up to the door face, with only dry weeds in the way.",
+        "At this close range the rusted door has drifted to the far left edge of my view while plain brick wall and a steel stair fill the right side. I will turn left to bring the door back to the center of my heading before finishing the approach.",
+        "The rusted orange door is now squarely centered ahead, framed by brick on both sides, with a narrow strip of ground and weeds at its base. One more forward step should place me directly at the door.",
+        "The rusted orange metal door panel and its seam fill my entire view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t0_b/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Navigate to the black trash bags on the ground.",
+    "Type": 0,
+    "Start_Pose": [
+        -14.484,
+        135.01,
+        202.152,
+        0.0,
+        70.08,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -14.484,
+            135.01,
+            202.152,
+            0.0,
+            70.08,
+            -0.0
+        ],
+        [
+            -14.484,
+            135.01,
+            202.152,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -25.628,
+            260.375,
+            206.291,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -36.773,
+            385.739,
+            211.124,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -47.917,
+            511.104,
+            211.244,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -59.062,
+            636.469,
+            209.955,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -70.206,
+            761.833,
+            209.955,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -81.35,
+            887.198,
+            202.243,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -92.495,
+            1012.562,
+            210.676,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -92.495,
+            1012.562,
+            210.676,
+            0.0,
+            95.08,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this yard I can see a small dark pile of bags on the ground to the right of center, sitting near the brick wall between the loading doors. My current heading points too far left across the pipes and scaffolding, so I will turn right to bring that pile closer to the middle of my view and open a clear lane toward it.",
+        "After turning, the bag pile now sits near the center of my view against the brick wall ahead, with flat paved ground and only shallow rails between us. I will move forward along this heading to start closing the distance.",
+        "The pile of bags is slightly larger in my view and still roughly straight ahead, so my heading remains good. The ground between us is open pavement, so I will continue forward without adjusting my direction.",
+        "The bags are clearly resolving as a grey and black heap just left of the rusted door, and the gap is still substantial. I will keep advancing on this heading since nothing obstructs the route.",
+        "The heap of sacks now occupies a good portion of the lower center of my view, but I am still a few steps short of standing beside it. I will move forward again to keep reducing the remaining distance.",
+        "The wall and doorways now fill most of my view and the bags sit close in front, slightly left of center. Another step forward should bring me right up to the pile.",
+        "The pile of dark bags is now large in the lower left foreground, only a short step away from my position. I will advance once more to close the final gap and stand directly at the bags.",
+        "The bags are right at the bottom edge of my view beside the brick wall, so I am nearly at contact range. One more short step forward should place me immediately at the pile, close enough to consider the approach done.",
+        "The pile of trash bags fills the lower left of my view, right at my feet against the brick wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t5_a_p/infos.json

@@ -0,0 +1,278 @@
+{
+    "Instruction": "Pick up the tomato beside the rusted orange garage door on the brick building.",
+    "Type": 5,
+    "Start_Pose": [
+        -14.484,
+        135.01,
+        202.152,
+        0,
+        70.08,
+        0
+    ],
+    "PD_ID": 0,
+    "PD_Size": 8.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -215.509,
+        1078.213,
+        174.096,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Pick",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -14.484,
+            135.01,
+            202.152,
+            0,
+            70.08,
+            0
+        ],
+        [
+            -14.484,
+            135.01,
+            202.152,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -25.628,
+            260.375,
+            206.291,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -36.773,
+            385.739,
+            211.124,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -47.917,
+            511.104,
+            211.244,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -59.062,
+            636.469,
+            209.955,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -70.206,
+            761.833,
+            209.955,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -81.35,
+            887.198,
+            202.243,
+            0.0,
+            95.08,
+            -0.0
+        ],
+        [
+            -81.35,
+            887.198,
+            202.243,
+            0.0,
+            120.08,
+            -0.0
+        ],
+        [
+            -81.35,
+            887.198,
+            202.243,
+            0.0,
+            120.08,
+            -0.0
+        ],
+        [
+            -144.432,
+            996.107,
+            209.069,
+            0.0,
+            120.08,
+            -0.0
+        ],
+        [
+            -144.432,
+            996.107,
+            209.069,
+            0.0,
+            120.08,
+            -0.0
+        ],
+        [
+            -144.432,
+            996.107,
+            209.069,
+            0.0,
+            120.08,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -215.509,
+            1078.213,
+            174.096,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -162.604,
+            984.876,
+            172.935,
+            -28.202,
+            170.225,
+            1.862
+        ],
+        [
+            -162.604,
+            984.876,
+            172.935,
+            -28.202,
+            170.225,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        964.4,
+        964.4,
+        839.6,
+        715.2,
+        591.4,
+        468.6,
+        348.2,
+        233.4,
+        233.4,
+        233.4,
+        108.6,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The red tomato sits far to my right edge, near the rusted orange door on the brick facade. Heading straight ahead would carry me toward the pipe stacks instead of the target. I will turn right so the tomato and its doorway sit closer to the center of my view.",
+        "The tomato now sits near the middle of my view, in front of the rusted orange door on the brick building. It is still far off across the open concrete yard, and the ground between us looks clear. I will walk forward to close that distance.",
+        "The tomato has grown slightly larger and stays just right of my center line, with the rusted door directly behind it. I am still well beyond reach for a grasp. I will keep walking straight along this clear stretch of yard.",
+        "The tomato is clearly visible ahead beside the pile of sacks, and the rusted orange door fills more of the wall in front of me. My heading still points at it, so no turn is needed yet. I will advance again to shorten the remaining gap.",
+        "The tomato now reads as a distinct round object slightly right of center, with the rusted door close behind it. It remains too far to touch from where I stand. I will step forward once more along the open ground toward it.",
+        "The red tomato sits on the sand just right of my heading, in front of the rusted metal door set in the brick wall. It is still several paces away, too far to reach. I will keep walking straight to close that gap.",
+        "The tomato now fills a good part of the lower right of my view, with the rust stained door directly behind it confirming it is the one named in the task. It is still beyond arm's reach across the open sand. Another step forward should bring me close enough to work with.",
+        "The tomato has drifted to the far right edge of my view and is partly cut off, while my heading points at the brick wall and the garbage bags. I need it centered before any reach attempt. Turning right should bring the tomato back in front of me.",
+        "The tomato is now squarely centered in my view against the rusted door and the weeds. My hands are empty and the fruit looks large enough that a grab may already be in range. I will try to pick it up from here.",
+        "That reach did not take hold, since my hands remain empty. The gap to it was clearly larger than a grab can span. I will step forward to stand right over the fruit before trying again.",
+        "My earlier grasp attempt from farther back left my hands empty and the tomato still resting on the ground by the rusted orange door. Now the tomato sits directly at the bottom of my view, right against the brick wall and well within reach. I will attempt the pick again from this closer stance.",
+        "The tomato is now held in my hands. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Walk to the rightmost metal door on the building.",
+    "Type": 2,
+    "Start_Pose": [
+        -43.372,
+        392.531,
+        210.956,
+        0.0,
+        78.72,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -43.372,
+            392.531,
+            210.956,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            -43.372,
+            392.531,
+            211.041,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -73.223,
+            514.799,
+            210.704,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -103.074,
+            637.067,
+            210.055,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -132.925,
+            759.334,
+            211.831,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -162.776,
+            881.602,
+            209.907,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -192.626,
+            1003.87,
+            204.263,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -222.477,
+            1126.138,
+            214.443,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -251.913,
+            1239.085,
+            225.008,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -251.913,
+            1239.085,
+            225.008,
+            0.0,
+            103.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Along this brick facade I can count the metal doors, and the last one at the right end is the rust streaked panel stained orange and blue, standing just left of the tall window. It lies off to the right of my current heading, while my view is centred on the pale doors further left. I turn right so that rusted door comes into the middle of my path.",
+        "The rust stained door now sits ahead of me, only a little left of centre, with open paving and rail strips between us. Nothing blocks that line, so I walk forward to close the distance.",
+        "The rusted door has grown larger and stays close to the centre of my view, so my heading is still good. The paving ahead is clear apart from the low rails, and I keep walking toward it.",
+        "The pale doors on the left are sliding out of my view, so I simply keep following the rust streaked panel itself, which now dominates the wall ahead. The bags of rubble sit off to my left and do not obstruct my line, so I step forward again.",
+        "The rusted metal door now fills much of the wall in front of me, framed by brick on both sides and the window to its right. I am still several paces short of it, so I continue walking straight in.",
+        "The rusted door stands almost squarely ahead, its lintel and hinges clearly visible above the weeds at its base. Only a short stretch of sandy ground remains, so I keep advancing.",
+        "The two rusted leaves and their central seam now fill nearly my whole view, with only dry weeds between my feet and the threshold. I step forward once more to stand right at this door.",
+        "The rusted metal surface and its hinge plate are close enough that no ground shows below them, so I am nearly against the door. A last short step should bring me right up to it.",
+        "The pitted rusted metal of the door fills my view at arm's length. I am standing at it, so the task is done and I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Head toward the second door from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -43.372,
+        392.531,
+        210.956,
+        0.0,
+        78.72,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -43.372,
+            392.531,
+            210.956,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            -18.754,
+            515.959,
+            211.224,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            5.865,
+            639.387,
+            209.305,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            30.484,
+            762.814,
+            211.811,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            55.102,
+            886.242,
+            204.855,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            79.721,
+            1009.67,
+            205.243,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            79.721,
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+            205.243,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            154.195,
+            1111.129,
+            202.828,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            154.195,
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+            202.828,
+            0.0,
+            28.72,
+            -0.0
+        ],
+        [
+            264.571,
+            1171.608,
+            209.151,
+            0.0,
+            28.72,
+            -0.0
+        ],
+        [
+            375.443,
+            1229.941,
+            227.726,
+            0.0,
+            28.72,
+            -0.0
+        ],
+        [
+            375.443,
+            1229.941,
+            227.726,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            375.443,
+            1229.941,
+            227.726,
+            0.0,
+            53.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Counting the doors along these brick facades from the left, the second one is the pale door tucked just behind the wooden scaffold tower, and the doors otherwise look much alike, so I will hold it by that tower. It sits well across the open yard from me. I step forward to begin closing that distance.",
+        "The facade has grown a little, but the door beside the scaffold tower is still far off across the cracked concrete. Nothing blocks the ground ahead of me. I keep walking straight toward it.",
+        "The wall is filling more of my view, and my door still lies left of the big placarded double door, under the scaffold tower. The heap of sacks and the stacked pipes stay clear of my line. Another stride forward should bring me nearer.",
+        "The rusty gate has slid to my right edge and the far left of the row is dropping out of sight, so I hold to the pale door standing beside the scaffold tower. It is still several paces off to my left front. I advance again.",
+        "I am close to the brickwork now, with the placarded double door directly ahead and my door showing at the left edge past the brick pillar. The ground between me and the wall is still open. I walk forward to close the remaining gap.",
+        "At this range the placarded double door fills the middle of my view while the door I want lies off to the left, mostly hidden by the brick pillar and the scaffold. Walking straight on would take me to the wrong door. I turn left to swing my heading onto my target.",
+        "The turn has brought the scaffold tower and the pale door beside it into the left of my view, with the placarded door pushed to my right. My target is still a couple of paces away past the weeds. I step forward to draw up to it.",
+        "The brick pillar now stands squarely in front of me and my door has slipped to the left of it, near the scaffold legs. Facing this way I would walk into the pillar rather than reach the door. I turn left again to bring it back in front of me.",
+        "The scaffold legs and the pale door panel behind them now sit ahead of me instead of behind the pillar, with only weeds and loose brick on the ground between. That gap is short but still real. I walk forward to close on the door.",
+        "The whitewashed door face fills the right of my view now, close behind the scaffold framing, so I am nearly at it. One more stride should bring me flush against it.",
+        "I am right up against the door, but my heading is skewed so the scaffold pipework crowds the middle of my view and the door slabs off to the right. Turning right should square me onto the door face where I stand.",
+        "The whitewashed door fills my view at arm's length, squarely in front of me. I have arrived at it, so there is nothing further to walk toward."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_c/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Approach the rusty orange door on the right side.",
+    "Type": 2,
+    "Start_Pose": [
+        -43.372,
+        392.531,
+        210.956,
+        0.0,
+        78.72,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -43.372,
+            392.531,
+            210.956,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            -18.754,
+            515.959,
+            211.224,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            -18.754,
+            515.959,
+            211.224,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -48.604,
+            638.227,
+            210.011,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -78.455,
+            760.494,
+            210.011,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -108.306,
+            882.762,
+            201.854,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -138.157,
+            1005.03,
+            207.902,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -168.008,
+            1127.298,
+            214.553,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -197.443,
+            1239.118,
+            223.882,
+            0.0,
+            103.72,
+            -0.0
+        ],
+        [
+            -197.443,
+            1239.118,
+            223.882,
+            0.0,
+            103.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the yard I can pick out the corroded orange metal door set to the right of the two pale grey doors on the same brick facade, and that rust is what marks it as mine. The open concrete stretch ahead is clear of pipes and debris, so I will walk forward to cut the distance before adjusting my heading.",
+        "The rusty orange door sits well off to the right of my heading, near the edge of my view, while my path points at the plain brick between the pale doors. I will turn right to swing that corroded door toward the center of my view so a straight walk carries me to it.",
+        "The turn has brought the rusty orange door near the middle of my view, framed between the pale doors on my left and the tall window and green skip on my right. With the ground between me and it open apart from the sandbag pile off to the left, I will step forward along this heading.",
+        "The corroded orange door is growing larger straight ahead and my heading still points at it. Nothing blocks the sandy ground in front of me, so I will keep walking to close the remaining gap.",
+        "The rust-streaked door now fills a good part of my view, with the sandbags safely to my left and dry weeds along the wall base to my right. My line is still true to it, so I will advance again.",
+        "The orange corrosion and peeling paint of the door are clearly resolved just ahead of me and slightly right of center. There is still a stretch of sandy ground between us, so I will step forward to bring myself close to its face.",
+        "The rusted metal panel now dominates my view, with only loose bricks and thin weeds between my feet and its threshold. I am close but not yet at the wall, so I will take another step in.",
+        "The pitted rusty door and its hinge post fill nearly my whole view, with the brick jamb close on my left. Only a short gap remains, so I will step forward once more to stand directly at it.",
+        "The pitted rusty door fills my view at arm's length. I am standing at it, so the approach is complete and I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_d/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Move to the second door from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -43.372,
+        392.531,
+        210.956,
+        0.0,
+        78.72,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -43.372,
+            392.531,
+            210.956,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            -18.754,
+            515.959,
+            211.224,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            5.865,
+            639.387,
+            209.305,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            30.484,
+            762.814,
+            211.811,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            55.102,
+            886.242,
+            204.855,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            79.721,
+            1009.67,
+            205.243,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            104.339,
+            1133.098,
+            202.901,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            145.946,
+            1239.332,
+            226.914,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            145.946,
+            1239.332,
+            226.914,
+            0.0,
+            78.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Counting the doors along this brick facade from the right end, the rusty orange one is the last, so my target is the pale white double door just left of it, beside the pile of grey sacks. It sits well ahead of me across the open yard, so I will walk straight forward toward it.",
+        "The white double door beside the sack pile has grown slightly larger and stays near the centre of my view, confirming my heading is good. The yard between us is still clear, so I will keep stepping forward.",
+        "The white double door next to the grey sacks is closer and I can now make out its panel seams and rusty streaks. Nothing blocks the ground between us, so I continue walking straight ahead.",
+        "My target white double door now fills much of the view with the sack pile heaped just to its right. I am still several strides short of the wall, so I keep advancing on it.",
+        "The white double door and its small plate are close ahead, with the sacks now off to my right and the neighbouring door edging out of view. A short stretch of ground remains, so I step forward again.",
+        "The rusted white door leaves now dominate my view, the peeling paint and plate clearly in front of me, but a little of the ground still shows at its base. I will walk forward once more to close that last gap.",
+        "I am nearly against the white door, its central seam and rust blooms directly before me, with a last narrow strip of ground at its foot. One more short step should bring me right up to it.",
+        "The rusted white door leaves and their central seam fill my view at arm's length. I have reached the intended door, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_e/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Navigate to the third door from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -43.372,
+        392.531,
+        210.956,
+        0.0,
+        78.72,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -43.372,
+            392.531,
+            210.956,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            -18.754,
+            515.959,
+            211.224,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            5.865,
+            639.387,
+            209.305,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            30.484,
+            762.814,
+            211.811,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            55.102,
+            886.242,
+            204.855,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            79.721,
+            1009.67,
+            205.243,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            79.721,
+            1009.67,
+            205.243,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            154.195,
+            1111.129,
+            202.828,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            154.195,
+            1111.129,
+            202.828,
+            0.0,
+            28.72,
+            -0.0
+        ],
+        [
+            264.571,
+            1171.608,
+            209.151,
+            0.0,
+            28.72,
+            -0.0
+        ],
+        [
+            375.443,
+            1229.941,
+            227.726,
+            0.0,
+            28.72,
+            -0.0
+        ],
+        [
+            375.443,
+            1229.941,
+            227.726,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            436.162,
+            1239.679,
+            231.315,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            436.162,
+            1239.679,
+            231.315,
+            0.0,
+            53.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Counting the shuttered doors along this brick facade from the right, I get the rusty orange one, then the tall white one in the middle, and third the pale door standing beside the wooden scaffold tower, so that scaffold-side door is my goal. It sits far across the open yard, so I step forward to close the gap.",
+        "The pale door next to the scaffold tower is still small and distant on the left side of the facade. The bare concrete yard ahead is clear of pipes and debris, so I keep walking straight toward the building.",
+        "The facade is filling more of my sight, and the door beside the scaffold tower is now clearly readable off to the left. Nothing blocks the ground between me and the wall except the sack pile well to the right of my line, so I advance again.",
+        "I am close enough now that the brickwork detail is sharp, but I am still out in the yard rather than at the wall. The scaffold-side door I want remains ahead and to my left, so another step forward keeps shrinking the distance.",
+        "The white middle door now dominates straight ahead while the door beside the scaffold sits further left along the wall. Advancing once more brings me level with the building so I can then work leftward along the facade.",
+        "I am right up against the wall, and what fills my sight is the tall white door with the brick pier beside it, not the door I want. My goal sits further along to the left, past that pier near the scaffold, so I pivot left to bring it in front of me.",
+        "The turn opened up the left stretch of wall, with the scaffold tower and the pale door recessed beyond the brick pier. That door is my target, so I walk forward along the wall to reach it.",
+        "The brick pier now cuts across my heading and hides most of the bay I am aiming for, with only a sliver of the pale door showing to its left. I turn left to swing past that pier and face the scaffold bay squarely.",
+        "The pier has slid to my right and the pale door beside the scaffold now stands open in front of me, with only dry weeds and loose brick on the ground between us. I walk forward into that bay to close on it.",
+        "The scaffold legs and the pipe rising through them now stand between me and the whitewashed door, but the gap beside them is wide enough to walk through. Another step should bring me right up to the door face.",
+        "I am close in beside the scaffold, and the pale door surface is pushed off to my right while the timber and pipe fill my heading. Pivoting right should square me onto the door rather than the scaffold frame.",
+        "The whitewashed panel of the door now fills my view with the scaffold timbers cleared to the left edge, so my heading is on it. A short step forward should put me directly at its face.",
+        "I stand directly at the whitewashed door beside the scaffold, its panel and frame edge filling my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t3_a/infos.json

@@ -0,0 +1,306 @@
+{
+    "Instruction": "Move to the metal scaffolding tower, then navigate to the rusty metal door.",
+    "Type": 3,
+    "Start_Pose": [
+        -93.351,
+        643.738,
+        210.055,
+        0.0,
+        79.68,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -93.351,
+            643.738,
+            210.055,
+            0.0,
+            79.68,
+            -0.0
+        ],
+        [
+            -70.804,
+            767.561,
+            210.055,
+            0.0,
+            79.68,
+            -0.0
+        ],
+        [
+            -48.257,
+            891.384,
+            206.984,
+            0.0,
+            79.68,
+            -0.0
+        ],
+        [
+            -48.257,
+            891.384,
+            206.984,
+            0.0,
+            54.68,
+            -0.0
+        ],
+        [
+            24.508,
+            994.077,
+            209.556,
+            0.0,
+            54.68,
+            -0.0
+        ],
+        [
+            97.272,
+            1096.77,
+            203.38,
+            0.0,
+            54.68,
+            -0.0
+        ],
+        [
+            97.272,
+            1096.77,
+            203.38,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            206.619,
+            1159.089,
+            202.984,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            315.768,
+            1215.784,
+            225.985,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            423.284,
+            1239.634,
+            231.303,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            423.284,
+            1239.634,
+            231.303,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            343.006,
+            1193.881,
+            217.204,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            262.729,
+            1148.129,
+            202.758,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            262.729,
+            1148.129,
+            202.758,
+            0.0,
+            54.68,
+            -0.0
+        ],
+        [
+            262.729,
+            1148.129,
+            202.758,
+            0.0,
+            79.68,
+            -0.0
+        ],
+        [
+            262.729,
+            1148.129,
+            202.758,
+            0.0,
+            104.68,
+            -0.0
+        ],
+        [
+            262.729,
+            1148.129,
+            202.758,
+            0.0,
+            129.68,
+            -0.0
+        ],
+        [
+            262.729,
+            1148.129,
+            202.758,
+            0.0,
+            154.68,
+            -0.0
+        ],
+        [
+            262.729,
+            1148.129,
+            202.758,
+            0.0,
+            179.68,
+            -0.0
+        ],
+        [
+            136.872,
+            1148.832,
+            202.758,
+            0.0,
+            179.68,
+            -0.0
+        ],
+        [
+            136.872,
+            1148.832,
+            202.758,
+            0.0,
+            -155.32,
+            0.0
+        ],
+        [
+            54.515,
+            1078.082,
+            207.365,
+            0.0,
+            -155.32,
+            0.0
+        ],
+        [
+            -59.847,
+            1025.53,
+            214.553,
+            0.0,
+            -155.32,
+            0.0
+        ],
+        [
+            -59.847,
+            1025.53,
+            214.553,
+            0.0,
+            179.68,
+            -0.0
+        ],
+        [
+            -59.847,
+            1025.53,
+            214.553,
+            0.0,
+            154.68,
+            -0.0
+        ],
+        [
+            -59.847,
+            1025.53,
+            214.553,
+            0.0,
+            129.68,
+            -0.0
+        ],
+        [
+            -145.148,
+            1113.867,
+            214.428,
+            0.0,
+            129.68,
+            -0.0
+        ],
+        [
+            -225.509,
+            1210.731,
+            221.087,
+            0.0,
+            129.68,
+            -0.0
+        ],
+        [
+            -225.509,
+            1210.731,
+            221.087,
+            0.0,
+            129.68,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The latticed metal scaffolding tower stands well off to my left along the brick workshop wall, and a rusty stained door sits further right on the same facade. Since the tower is my first stop and still far across the open yard, I will walk forward to cut down that distance before adjusting my heading.",
+        "The brick wall and the pile of sacks have grown noticeably larger, so my last step did close ground, but the scaffolding frame is still off at the left margin and out of reach. I will keep walking forward to gain more of the yard before angling toward it.",
+        "Straight ahead I now face only sacks and the plain brick wall with the rusty door panel to my right, and the scaffolding has slipped past the left edge of my view. Walking further this way would carry me into the wall, so I will turn left to bring the tower back in front of me.",
+        "The turn worked, and the timber and steel tower with its ladder is back in view ahead of me, beside the pale doors. With a clear stretch of gravel between us, I will step forward to close on it.",
+        "The tower's cross-braced legs are noticeably nearer now, rising past the top of my view beside the white metal doors. I still have a few paces of open ground before I stand at its base, so I will keep walking forward.",
+        "My view is now dominated by the rusted white door with its transformer warning plate, and the scaffolding has drifted to the far left edge. Continuing straight would press me into that door face, so I will turn left to put the tower back ahead of me.",
+        "The turn lined me up well, with the braced tower and its central pipe standing directly ahead across a short weedy strip of ground. I will walk forward to close the last of the gap to its base.",
+        "The scaffolding now fills the left half of my view, its riveted braces and the pipe it carries close enough to make out clearly. I am not quite at its base yet, so I will step forward again to stand right at the structure.",
+        "The riveted legs and the thick vertical pipe of the metal scaffolding tower now fill the left half of my view, with the whitewashed wall pressing in on the right. I am close but not yet standing at its base, so I will step forward once more along this narrow gap to close the remaining distance.",
+        "The braced steel legs and the rusted pipe column of the scaffolding tower are directly in front of me, close enough to touch, with the wall right at my shoulder. I have reached the metal scaffolding tower. I mark arriving here before setting off for the rusty metal door.",
+        "Standing this tight against the tower legs and the pale wall leaves me almost no open view, since bracing and pipework block nearly everything ahead. Backing up a step should open the corridor around me so I can pick a heading toward the rusty door.",
+        "The tower now reads as a whole framework rather than a wall of steel in my face, but I am still wedged in the narrow slot between it and the pale building face. One more step back should give me enough clearance to swing my heading freely.",
+        "I have the room I need now, and the scaffolding tower I came to is squarely ahead with nothing but weeds and the pale wall beyond it. The rusty door lies back along the building fronts to my right, so I begin swinging my heading that way.",
+        "The tower has slid to my left edge and I am now looking mostly at the whitewashed slab and the brick pier beside it. That is not yet the weathered iron door I want, so I keep rotating right across the building face.",
+        "Directly ahead is only a sunlit brick pier and the whitewashed steel panel with its transformer plate, which is not the rust streaked door I am looking for. I continue turning right to bring more of the yard along this wall into view.",
+        "The pale steel door with the transformer sign still dominates my view, and the brick corner on the right hides whatever lies further around. I will keep turning right past that corner to look for the rusty door along the open yard.",
+        "I am still wedged into the corner beside the white transformer door, with brickwork filling most of my view and no walkable line ahead. Turning right again should keep swinging my heading away from this dead end toward the gap past the brick corner where the sacks lie.",
+        "The rotation has opened my view: beyond the pile of sacks the passage gives onto a wide yard with a gantry and a green skip. My heading still cuts across the brick wall, so one more right turn should set me squarely along that opening.",
+        "The passage now runs straight ahead into the open yard, with only the sacks hugging the wall to my left. I will walk forward to clear this tight corner and gain open ground where the building facades and their doors become visible.",
+        "I have stepped clear of the narrow gap, but my heading still runs along the brick wall on my left while the open yard with the skip sits off to my right. A right turn should aim me into that open ground before I cross it.",
+        "The yard now lies squarely ahead, open sand with the green skip and the overhead gantry framing it. I will walk forward into it, which should bring me within reach of the surrounding facades where a rusted metal door can be found.",
+        "The skip has grown noticeably closer and the sandy ground in front of me stays clear of rubble. Another stride forward should carry me deeper into the yard, near enough to the flanking buildings to start checking their walls for the rusted door.",
+        "I am well into the yard with the skip directly in front of me, and my current heading only shows distant halls across the open ground. The nearer brick building whose wall I want to inspect stands to my left, so I will turn that way to bring its facade into view.",
+        "The turn has brought the left-hand brick hall with its tall windows and steel frame into view, but its wall still runs off past the edge of my sight. I will keep swinging left to expose the rest of that facade and pick out the rusted metal door on it.",
+        "The rust-streaked metal door slab is stretched along the left edge of my view, seen at a sharp oblique angle while my heading points down the open yard. One more left turn should swing that corroded door face into the center of my view so I can walk straight at it.",
+        "The corroded, orange-streaked metal door now sits square in front of me on the brick wall, with clear open ground and only low weeds between us. I will walk forward to close the remaining gap toward it.",
+        "The rusted door panel now fills most of my view, but I am still a stride or two short of standing right at it. Another step forward should bring me up against its face.",
+        "The pitted, rust-eaten metal door fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t5_a_pd/infos.json

@@ -0,0 +1,449 @@
+{
+    "Instruction": "Grab the jerry can beside the metal scaffolding tower, then leave it near the rusty metal door.",
+    "Type": 5,
+    "Start_Pose": [
+        -93.351,
+        643.738,
+        210.055,
+        0,
+        79.68,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        266.167,
+        1161.891,
+        132.759,
+        0,
+        30,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -93.351,
+            643.738,
+            210.055,
+            0,
+            79.68,
+            0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
+            -121.796,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -121.796,
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+        ],
+        [
+            -121.796,
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+        ],
+        [
+            -202.158,
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+        ],
+        [
+            -281.957,
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+            -0.0
+        ],
+        [
+            -235.985,
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+        ],
+        [
+            -235.985,
+            1183.706,
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+            0.0,
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+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            266.167,
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+            0.0,
+            30.0,
+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+        ],
+        [
+            86.738,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            74.729,
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+        ],
+        [
+            73.353,
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+        ],
+        [
+            88.486,
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+            172.61,
+            -28.208,
+            -155.177,
+            1.851
+        ],
+        [
+            97.672,
+            1074.258,
+            173.278,
+            -28.198,
+            -130.173,
+            1.867
+        ],
+        [
+            1.437,
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+            173.232,
+            -28.203,
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+            1.856
+        ],
+        [
+            -121.535,
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+            -28.21,
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+            1.852
+        ],
+        [
+            -129.862,
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+            175.221,
+            -28.209,
+            -155.187,
+            1.859
+        ],
+        [
+            -137.244,
+            1043.408,
+            174.635,
+            -28.199,
+            179.823,
+            1.862
+        ],
+        [
+            -218.049,
+            1138.661,
+            184.954,
+            -28.202,
+            179.822,
+            1.86
+        ],
+        [
+            -297.745,
+            1224.704,
+            195.436,
+            -28.198,
+            179.825,
+            1.865
+        ],
+        [
+            -280.68,
+            1237.58,
+            167.946,
+            0.0,
+            129.68,
+            -0.0
+        ],
+        [
+            -280.68,
+            1237.58,
+            167.946,
+            0.0,
+            129.68,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        630.7,
+        518.7,
+        414.8,
+        414.8,
+        294.2,
+        181.0,
+        181.0,
+        20.5,
+        21.4,
+        22.0,
+        23.4,
+        27.1,
+        21.5,
+        22.5,
+        21.4,
+        21.4,
+        20.3,
+        20.0,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The metal scaffolding tower stands off to my left against the brick workshop, and a small red container sits at its base near the stacked pipes. I am still far back across the open yard, so I will walk forward to close that gap before refining my heading.",
+        "The red jerry can beside the scaffolding is now clearly visible at the left of the wall, and it has grown larger as I advance. Nothing blocks the sandy ground ahead, so I will keep walking forward to shorten the remaining distance.",
+        "My heading is carrying me toward the sacks and the brick wall while the jerry can now sits far out at the left edge of my view. I will turn left to bring the can and the scaffolding into the center of my path.",
+        "The jerry can now sits ahead of me at the foot of the scaffolding tower, roughly in line with my heading. The ground between us is open apart from the pipes further left, so I will walk forward to close in on it.",
+        "The can is much larger now and stands just left of the brick pillar in front of the white doors. I am still not within arm's reach, so I will step forward again to reach a workable grabbing distance.",
+        "I have come close enough that the rusty white door fills most of my view and the jerry can has slipped to the very left edge, barely inside my sight. I will turn left so the can sits squarely in front of me before I reach for it.",
+        "The red jerry can now stands centered directly in front of me at the base of the scaffolding tower, close enough that its handle and body fill the lower view. This is the grab the task asks for, so I will attempt to pick it up.",
+        "The grab worked and the jerry can is now in my hands rather than resting by the scaffolding. The rusty metal door lies back across the yard on my right side, away from this white door corner, so I will turn right to begin swinging my heading toward it.",
+        "The jerry can is in my hands, so what I need now is a heading toward the rusty door. In front of me is only the white steel door of this corner and the scaffolding legs, not the rust stained one, so I keep rotating right to sweep the yard for it.",
+        "My view still shows the white door and plain brickwork, with a dark sack heap appearing at the right edge. The rusty door frontage is still outside this heading, so I continue turning right while carrying the can.",
+        "A strip of the rust and paint stained door is now showing at the right edge past the brick wall, so my sweep is heading the right way. I turn right once more to bring that side of the yard properly in front of me.",
+        "The rusty door panel is visible along the wall, but the piled sacks sit right in front of me and cut off a straight walk to it. I turn right again to face the open ground running alongside the wall instead.",
+        "Clear sandy ground and the green skip are opening up to my right while the sacks still crowd my left foreground. One more turn right should set me on that unobstructed lane so I can carry the can past the heap.",
+        "The lane in front of me is open sand, with the skip off to the right and the stained wall running down my left. I step forward with the can to get clear of the sack heap and move along that wall.",
+        "I am now past the heap, walking down the open alley with the wall close on my left and the skip ahead on my right. Another step forward should bring me level with the rusty section of that wall.",
+        "I have come far enough along the alley that the skip is beside me and the wall face has slipped out of my forward view to the left. I turn left to swing my heading back onto the rusty door frontage before setting the can down.",
+        "The rusty metal door is still off to my left edge while my heading points down the open yard toward the skip. I will turn left again to bring that corroded door squarely ahead so I can walk straight at it with the can in hand.",
+        "The rusty, peeling metal door now sits centered ahead of me across a short stretch of gravel and weeds. Carrying the jerry can, I will step forward to close that remaining gap to the door.",
+        "The corroded door panel now fills most of my view, but the weeds at its base are still a step or two away. I will advance once more so the can can be set down right against the door.",
+        "I am now right up against the rusted, blue-and-orange painted door, with its frame edge at my side and the jerry can still in my hands. This is the placement the task asks for, so I will release the can here beside the door.",
+        "The jerry can now rests on the ground at the foot of the rusty metal door, out of my hands. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t0_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Walk to the blue metal door on the brick building.",
+    "Type": 0,
+    "Start_Pose": [
+        -1378.024,
+        917.037,
+        194.27,
+        0.0,
+        20.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1378.024,
+            917.037,
+            194.27,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1259.876,
+            960.413,
+            193.133,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1141.728,
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+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1023.58,
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+            194.678,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1023.58,
+            1047.166,
+            194.678,
+            0.0,
+            45.16,
+            -0.0
+        ],
+        [
+            -934.833,
+            1136.41,
+            207.846,
+            0.0,
+            45.16,
+            -0.0
+        ],
+        [
+            -846.086,
+            1225.654,
+            221.392,
+            0.0,
+            45.16,
+            -0.0
+        ],
+        [
+            -846.086,
+            1225.654,
+            221.392,
+            0.0,
+            70.16,
+            -0.0
+        ],
+        [
+            -821.468,
+            1238.888,
+            221.388,
+            0.0,
+            70.16,
+            -0.0
+        ],
+        [
+            -821.468,
+            1238.888,
+            221.388,
+            0.0,
+            70.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the blue metal door set into the brick facade on the right side of this alley, still some distance ahead. The open gravel lane in front of me is clear, so I will move forward to begin closing that gap.",
+        "The blue door now fills more of the right side of my view, confirming I am headed the right way along the alley. I will continue straight to keep shrinking the distance before I need to swing toward it.",
+        "The weathered blue metal panels are clearly resolved on my right, but I am still slightly short of being level with them. Another step forward along the lane should bring me alongside the doorway.",
+        "I am now nearly beside the blue door, which sits off to my right rather than in front of me. I will turn right to bring the door into the center of my view and face it directly.",
+        "The turn has brought the blue metal door into view ahead of me with the brick wall framing it. The ground between me and the doorway looks clear apart from loose rubble, so I will step forward to close in.",
+        "The peeling blue surface now dominates the right half of my view, so I am only a short step away from the door face. I will advance again to stand close in front of it.",
+        "At this close range the brick pier is filling the middle of my view while the blue door lies to my right. I will turn right so the door itself is squarely in front of me.",
+        "The blue metal door now fills my view straight ahead with only its brick jamb at the edge, so I am squared up on it. I will take one small step forward to settle right at the doorway.",
+        "The blue metal door and its brick frame fill my view at arm's length. The task is complete, so I stop here rather than press into the wall."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t0_b/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Approach the metal pillar beside the blue door.",
+    "Type": 0,
+    "Start_Pose": [
+        -1378.024,
+        917.037,
+        194.27,
+        0.0,
+        20.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1378.024,
+            917.037,
+            194.27,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1259.876,
+            960.413,
+            193.133,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1141.728,
+            1003.79,
+            191.585,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1023.58,
+            1047.166,
+            194.678,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -905.432,
+            1090.543,
+            206.235,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -905.432,
+            1090.543,
+            206.235,
+            0.0,
+            45.16,
+            -0.0
+        ],
+        [
+            -816.685,
+            1179.787,
+            217.407,
+            0.0,
+            45.16,
+            -0.0
+        ],
+        [
+            -816.685,
+            1179.787,
+            217.407,
+            0.0,
+            45.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the mouth of this alley I can already pick out the blue metal door on the brick wall to my right, with a braced metal pillar framework standing directly beside it. The gap is still long, so I will move forward along the open gravel lane to begin closing that distance.",
+        "The braced pillar and the blue door now sit larger in the right half of my view, confirming my heading leads toward them. The lane ahead is still clear of debris, so I will continue forward.",
+        "The metal pillar is close enough now that I can see its bolted plates and diagonal braces, but I am still standing off from it in the open yard. Another step forward should bring me alongside the structure beside the blue door.",
+        "The pillar's lower legs and the weedy ground at its base are now clearly ahead and slightly right of my heading. I will take one more forward step to bring myself into the immediate vicinity of the structure.",
+        "I am nearly beside the framework, but its riveted legs and the blue door sit off to my right while my heading still points down the alley. Turning right should place the pillar centrally ahead so my final step closes on it directly.",
+        "After the turn the braced metal pillar stands squarely in front of me with the blue door immediately to its right. A short forward step should bring me right up against the structure at an arm's length standing position.",
+        "The riveted metal pillar and its braces fill my view at arm's length, with the blue door right beside it. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t5_a_p/infos.json

@@ -0,0 +1,183 @@
+{
+    "Instruction": "Lift the plate in front of the blue metal door on the brick building.",
+    "Type": 5,
+    "Start_Pose": [
+        -1378.024,
+        917.037,
+        194.27,
+        0,
+        20.16,
+        0
+    ],
+    "PD_ID": 16,
+    "PD_Size": 3.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -860.929,
+        1172.906,
+        159.98,
+        90,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1378.024,
+            917.037,
+            194.27,
+            0,
+            20.16,
+            0
+        ],
+        [
+            -1259.876,
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+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1141.728,
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+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1023.58,
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            -0.0
+        ],
+        [
+            -905.432,
+            1090.543,
+            206.235,
+            0.0,
+            45.161,
+            -0.0
+        ],
+        [
+            -905.432,
+            1090.543,
+            206.235,
+            0.0,
+            45.161,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -860.929,
+            1172.906,
+            159.98,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -860.929,
+            1172.906,
+            159.98,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -860.929,
+            1172.906,
+            159.98,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -860.929,
+            1172.906,
+            159.98,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -860.929,
+            1172.906,
+            159.98,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -860.929,
+            1172.906,
+            159.98,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -921.469,
+            1105.882,
+            172.154,
+            -28.202,
+            95.305,
+            1.862
+        ],
+        [
+            -921.469,
+            1105.882,
+            172.154,
+            -28.202,
+            95.305,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        576.9,
+        452.0,
+        327.8,
+        205.6,
+        93.6,
+        93.6,
+        22.2,
+        22.2
+    ],
+    "Rationale": [
+        "The white plate stands upright on the ground ahead of me, right in front of the blue metal door set in the brick building. It is still far off across the open yard, so I will walk straight forward to close that distance.",
+        "The plate has grown noticeably larger and stays near the middle of my view, confirming my heading is good. The ground between us is open, so I will keep walking forward toward it.",
+        "The plate now sits clearly ahead against the blue door and the weathered brickwork, but it is still beyond arm's reach. Nothing blocks the path, so another step forward should bring me close enough to work with it.",
+        "The plate fills much of the lower right of my view and the brick wall and timber bracing are close by, so I am nearly at the door. One more step forward should put the plate within grasping range.",
+        "I am now standing right at the wall, but the plate has slipped to the far bottom right corner and is mostly out of my view. Turning right should swing my body and gaze back onto it before I try to take hold of it.",
+        "The plate is now squarely in front of me at close range, its rim large in the lower center of my view beside the blue metal door. My hands are empty and nothing stands between us, so I will attempt to lift it.",
+        "The plate is now held in my hands, raised clear of the rubble-strewn ground. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-001842_y000603_z000205_t1_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Search for a deep blue double door that is closed; once identified, proceed to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1841.633,
+        603.365,
+        205.187,
+        0,
+        -160.32,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1841.633,
+            603.365,
+            205.187,
+            0,
+            -160.32,
+            0
+        ],
+        [
+            -1841.633,
+            603.365,
+            205.187,
+            0.0,
+            -135.32,
+            0.0
+        ],
+        [
+            -1841.633,
+            603.365,
+            205.187,
+            0.0,
+            -110.32,
+            0.0
+        ],
+        [
+            -1841.633,
+            603.365,
+            205.187,
+            0.0,
+            -85.32,
+            0.0
+        ],
+        [
+            -1841.633,
+            603.365,
+            205.187,
+            0.0,
+            -60.32,
+            0.0
+        ],
+        [
+            -1841.633,
+            603.365,
+            205.187,
+            0.0,
+            -35.32,
+            0.0
+        ],
+        [
+            -1841.633,
+            603.365,
+            205.187,
+            0.0,
+            -10.32,
+            0.0
+        ],
+        [
+            -1841.633,
+            603.365,
+            205.187,
+            0.0,
+            14.68,
+            -0.0
+        ],
+        [
+            -1719.883,
+            635.26,
+            198.148,
+            0.0,
+            14.68,
+            -0.0
+        ],
+        [
+            -1598.132,
+            667.155,
+            207.691,
+            0.0,
+            14.68,
+            -0.0
+        ],
+        [
+            -1598.132,
+            667.155,
+            207.691,
+            0.0,
+            39.68,
+            -0.0
+        ],
+        [
+            -1501.268,
+            747.516,
+            205.173,
+            0.0,
+            39.68,
+            -0.0
+        ],
+        [
+            -1404.404,
+            827.877,
+            194.244,
+            0.0,
+            39.68,
+            -0.0
+        ],
+        [
+            -1307.54,
+            908.238,
+            194.244,
+            0.0,
+            39.68,
+            -0.0
+        ],
+        [
+            -1210.676,
+            988.599,
+            191.57,
+            0.0,
+            39.68,
+            -0.0
+        ],
+        [
+            -1113.812,
+            1068.96,
+            220.33,
+            0.0,
+            39.68,
+            -0.0
+        ],
+        [
+            -1016.948,
+            1149.321,
+            222.557,
+            0.0,
+            39.68,
+            -0.0
+        ],
+        [
+            -920.085,
+            1229.681,
+            227.578,
+            0.0,
+            39.68,
+            -0.0
+        ],
+        [
+            -920.085,
+            1229.681,
+            227.578,
+            0.0,
+            39.68,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Directly ahead I only see a pale, rust streaked metal door set in the brick wall, which is not the deep blue double door I am looking for. Since nothing else in this narrow view matches the target, I will turn right to begin a steady scan of the surrounding yard.",
+        "The rotation has opened up more of the yard, showing a cable spool, scattered bricks and further brick workshops, but the only door in sight is still the pale metal one on my left. No deep blue double door appears here, so I will keep turning right to continue the scan in the same direction.",
+        "This part of the yard shows chimneys, an overhead pipe gantry and a few dim doorways, none of which read as a deep blue double door. I will continue the same rightward sweep to bring the next section of the site into view.",
+        "The open lane between the two brick halls is now in front of me, with crates, a rusted container and scattered bricks, but no blue double door on either wall. Continuing the same consistent rightward rotation should reveal the facades that are still behind me.",
+        "I am facing a large brick hall with a green skip in front of it, and its visible openings are windows rather than the deep blue double door named in the task. I will keep rotating right to sweep further along this side of the yard.",
+        "From here I can see the pipe gantry, a green skip and a heap of dark refuse bags, and the doorway on the hall to my left is dim rather than clearly blue. I will continue the same rightward turn so the brick facades on the right side of the yard come into view.",
+        "The scan now shows the gantry and the skip roughly ahead, with the sunlit brick wing beginning to appear at the right edge. I will turn right once more to bring that brick facade and its doorways fully into my field of view.",
+        "Turning has brought the tall brick wing into view, and on its facade beyond the skip I can make out a blue painted door panel that plausibly matches the deep blue double door. Rather than complete a full rotation, I will commit to this cue and step forward along the open ground to get close enough to confirm it.",
+        "Ahead on the right-hand brick facade I can make out a weathered blue door panel set beside the stone steps, which matches the deep blue closed double door I am looking for. The pile of bags and the green skip stay to my left, so the open gravel lane in front of me is clear. I will step forward again to close distance and get a better look at that door.",
+        "The blue double door on the brick facade now sits to the right of my heading, partly behind the wooden trestle, while my current facing points down the lane past the skip. A single turn to the right should place that door near the center of my view so I can walk straight at it. I will turn right to line up with the target.",
+        "The turn worked, and the faded blue door in the brick wall is now centered ahead with the raised stone steps on my right. The gravel yard between me and it looks open apart from scattered weeds. I will walk forward to reduce the distance to that door.",
+        "The blue door is growing larger and stays just left of the wooden bracing, confirming my heading is still good. Nothing blocks the ground between me and the wall except low weeds along the base. I will keep walking forward toward it.",
+        "From here I can see the door clearly enough to read it as a closed metal double leaf with peeling blue paint and a small window band above. It is still several paces away along the brick facade. I will continue forward to bring myself up to it.",
+        "The blue double door dominates the right side of my view now, with the wooden scaffold post standing to its left and the paved slabs to my right. The remaining ground is loose gravel and dry weeds that I can walk over. I will step forward again to close the last stretch.",
+        "The two closed leaves of the blue door and their vertical seam are clearly resolved just ahead of me, so I am nearly at the target. My path passes close by the wooden bracing on the left but remains open. I will advance once more to stand directly in front of the door.",
+        "I am now close beside the deep blue door, which fills much of my view and is plainly shut. A short step more should put me squarely at its face rather than off to one side. I will move forward to finish the approach.",
+        "The weathered deep blue double door now fills most of my view, its central seam and closed leaves clearly visible just ahead on the right side of the brick wall. The ground in front of it is clear, so I will step forward once more to close the last bit of distance and stand directly at the door.",
+        "The closed deep blue double door fills my view at arm's length, its seam and both leaves plainly visible. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-001904_y-002824_z000190_t1_b/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Identify the open half of a green double door, then head over to where it stands.",
+    "Type": 1,
+    "Start_Pose": [
+        -1904.142,
+        -2824.328,
+        189.55,
+        0.0,
+        167.04,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            167.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            142.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            117.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            92.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            67.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            42.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1783.808,
+            -2787.446,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1663.474,
+            -2750.565,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1543.14,
+            -2713.683,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1422.807,
+            -2676.801,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1302.473,
+            -2639.92,
+            190.88,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1302.473,
+            -2639.92,
+            190.88,
+            0.0,
+            -7.96,
+            0.0
+        ],
+        [
+            -1177.826,
+            -2657.349,
+            198.04,
+            0.0,
+            -7.96,
+            0.0
+        ],
+        [
+            -1053.18,
+            -2674.778,
+            200.286,
+            0.0,
+            -7.96,
+            0.0
+        ],
+        [
+            -931.555,
+            -2689.001,
+            198.148,
+            0.0,
+            -7.96,
+            0.0
+        ],
+        [
+            -931.555,
+            -2689.001,
+            198.148,
+            0.0,
+            -7.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this narrow, shadowed alley I can only see a rusty shutter and a dark doorway ahead, with no green double door in sight. I will turn left to begin a steady scan of the surrounding yard for the open half of a green double door.",
+        "The corner of the whitewashed building now fills my view, showing a single narrow door and a closed metal shutter rather than a green double door. I will keep rotating left in the same direction to bring more of the yard into view.",
+        "This angle opens onto a cluttered yard with a green rusted container and stacked cartons, but the green surface belongs to a shed wall, not to an open door leaf. I will continue the left rotation to check the area further around.",
+        "Facing the large brick factory wall and the side of the container, I still see no green double door anywhere in this sector. Turning left again should sweep past the brickwork toward the passages on the far side of the yard.",
+        "The yard widens here, and at the far left edge I can make out a low stone building with a dark arched opening and a pale green panel beside it. I will turn left once more to bring that promising opening closer to the centre of my view.",
+        "Now the arched gateway on the left clearly shows a green door leaf standing open and folded back against the wall, which matches the open half of the green double door I am looking for. I will turn left once more to line my heading up with that gateway before walking toward it.",
+        "The arched passage with the open green door leaf is now roughly ahead of me, with clear cobbled ground and only shallow puddles between us. I will walk forward to close the distance toward that door.",
+        "The step forward brought the gateway noticeably nearer, and the green door half beside the dark archway is now larger and easier to read. I will keep walking straight since the route stays clear along the base of the brick wall.",
+        "The green-painted door leaf standing open beside the arched passage is clearly ahead of me, its second half swung outward against the brick wall on the right side of the opening. It is still some distance away, so I will walk forward along the cobbled yard to close the gap. The route between the puddles and the concrete slabs looks clear enough for a straight advance.",
+        "The open green leaf and the arch it belongs to now fill more of my view, confirming I am closing on the correct double door. I am still short of it, with the leaning planks and the step edge on the right still ahead of me. I will keep walking forward to shorten the remaining distance.",
+        "The open green half of the double door is close now, with its rusted panel and bracing clearly visible to the right of the dark archway. A couple more steps should bring me right up to the doorway rather than stopping short of it. I will continue moving straight forward.",
+        "I am now right at the green double door, but the open leaf sits to my right while the passage it guards runs off toward my left. Turning left should square my heading with the archway and the standing door so I can position myself properly at its location.",
+        "The archway of the green double door is now centered ahead of me, with the open leaf standing just off to my right. Walking forward should carry me into the threshold where the open door stands. The floor through the opening looks clear, so I will step ahead.",
+        "I am passing under the arch with the open green leaf at my side, so I am essentially at the door's position now. One more step forward should place me level with it inside the passage instead of hanging back in the entry. I will keep moving straight.",
+        "The open door leaf is now right beside me on the left as the inner passage widens ahead. A final short step should settle me squarely at the spot where this open half of the green double door stands. I will advance once more.",
+        "The open half of the green double door stands immediately at my side, within arm's reach. The task is complete, so there is no reason to keep moving."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Search for the green dumpster in the area and make your way to where it stands.",
+    "Type": 1,
+    "Start_Pose": [
+        -2481.373,
+        -2698.728,
+        189.356,
+        0.0,
+        -157.44,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2481.373,
+            -2698.728,
+            189.356,
+            0.0,
+            -157.44,
+            0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            127.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            102.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            77.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            52.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2369.796,
+            -2640.496,
+            189.65,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2261.823,
+            -2631.009,
+            197.498,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2154.83,
+            -2632.079,
+            193.713,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2044.542,
+            -2587.339,
+            189.593,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2044.542,
+            -2587.339,
+            189.593,
+            0.0,
+            52.56,
+            -0.0
+        ],
+        [
+            -1968.028,
+            -2487.409,
+            197.095,
+            0.0,
+            52.56,
+            -0.0
+        ],
+        [
+            -1947.253,
+            -2459.101,
+            198.148,
+            0.0,
+            52.56,
+            -0.0
+        ],
+        [
+            -1947.253,
+            -2459.101,
+            198.148,
+            0.0,
+            52.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot in the factory yard I can only see brick facades, puddles and a narrow gap between the buildings, with no green dumpster anywhere in front of me. I will start a steady leftward scan of the surroundings to bring the unseen parts of this yard into view.",
+        "The turn has opened up a darker corner where a wall edge now blocks the left side, and there is still no sign of a green dumpster. I will keep rotating in the same leftward direction so the scan stays consistent and covers the area behind that wall edge.",
+        "Most of my view is now taken up by a tall rusted panel with only a narrow strip of open ground on the right, so almost nothing useful is visible here. Continuing the same leftward rotation should carry my heading past this obstruction toward more open surroundings.",
+        "The stenciled warning panel is directly in front of me and hides everything beyond it, so no target can be judged from this heading. I will hold the same leftward turn direction to sweep past this closed surface.",
+        "My whole field of view is still the flat warning panel, dark and featureless, which gives me no cue about where a dumpster might stand. Keeping the rotation consistent to the left should soon clear this barrier and reveal the space beside it.",
+        "The edge of the panel has come into view and a dim recess with a greenish tint is appearing on the left, which is the first promising break in this wall. I will continue turning left to bring that opening fully into my view.",
+        "A weathered green door sits right beside me and further left the alley opens onto a sunlit yard with brickwork and clutter. I will turn left once more to face that open passage rather than the doorway, since the yard is the more plausible place to find a dumpster.",
+        "The alley is now open ahead of me, and partway down the yard on the left there is a large greenish container standing against the brick building. That looks like the green dumpster I am searching for, so I will walk forward along this passage to close the distance and confirm it.",
+        "The narrow passage between the concrete pillar on my right and the buildings ahead opens onto a yard where a greenish metal container sits beside stacked crates. That patch of green is a promising match for the dumpster I am looking for, but it is still partly hidden by the wall edge. I will walk forward to clear the corner and get a fuller look at it.",
+        "Stepping past the pillar has exposed the yard, and the green rusted container with its sloped lid is now clearly visible ahead beside the cardboard boxes and gas cylinder. This matches the green dumpster I was told to find, so there is no reason to keep scanning. I will continue walking straight toward it.",
+        "The green dumpster now fills a large part of the right side of my view, its teal painted panel and rusted top clearly readable at close range. I am still a few steps short of standing at it, with open cobblestone in front of me. I will keep advancing to close that remaining gap.",
+        "The dumpster is close now, but it sits off to my right while my heading points down the alley toward the far archway. Walking straight would carry me past its front rather than up to it. I will turn right to square myself with the dumpster before closing the last distance.",
+        "After turning, the green dumpster is centered in front of me, its full painted side and rusted lid spanning the view. Only a short stretch of ground with a gas cylinder and weeds separates me from it. I will step forward to reach the position where it stands.",
+        "The dumpster wall now occupies almost my entire view, with its rim near the top of my sight line, so I am nearly against it. A small gap still remains before I am standing right at it. I will take one more short step to close in.",
+        "The green dumpster's weathered side is directly in front of me at arm's length, filling my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-002822_y-003204_z000198_t1_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Locate the vertical metal ladder mounted on the exterior wall of the building, then make your way to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -2821.81,
+        -3204.081,
+        198.298,
+        0.0,
+        -13.44,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2821.81,
+            -3204.081,
+            198.298,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -2821.81,
+            -3204.081,
+            198.148,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -2821.81,
+            -3204.081,
+            198.148,
+            0.0,
+            36.56,
+            -0.0
+        ],
+        [
+            -2821.81,
+            -3204.081,
+            198.148,
+            0.0,
+            61.56,
+            -0.0
+        ],
+        [
+            -2821.81,
+            -3204.081,
+            198.148,
+            0.0,
+            86.56,
+            -0.0
+        ],
+        [
+            -2821.81,
+            -3204.081,
+            198.148,
+            0.0,
+            111.56,
+            -0.0
+        ],
+        [
+            -2868.06,
+            -3087.028,
+            204.646,
+            0.0,
+            111.56,
+            -0.0
+        ],
+        [
+            -2914.31,
+            -2969.975,
+            188.103,
+            0.0,
+            111.56,
+            -0.0
+        ],
+        [
+            -2960.56,
+            -2852.922,
+            186.428,
+            0.0,
+            111.56,
+            -0.0
+        ],
+        [
+            -3006.81,
+            -2735.869,
+            186.428,
+            0.0,
+            111.56,
+            -0.0
+        ],
+        [
+            -3006.81,
+            -2735.869,
+            186.428,
+            0.0,
+            136.56,
+            -0.0
+        ],
+        [
+            -3098.196,
+            -2649.329,
+            186.428,
+            0.0,
+            136.56,
+            -0.0
+        ],
+        [
+            -3189.582,
+            -2562.789,
+            193.599,
+            0.0,
+            136.56,
+            -0.0
+        ],
+        [
+            -3189.582,
+            -2562.789,
+            193.599,
+            0.0,
+            136.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing a decayed brick wall with boarded windows and a heap of garbage bags right in front of me, and there is no ladder anywhere on this surface. Since this corner is closed off and offers no route, I will turn right to begin a consistent scan for a wall that might carry a mounted ladder.",
+        "The rotation has brought open ground and a second structure with a low roof into the right side of the view, but the wall in front of me still shows only boarded openings and no ladder. I will keep turning right in the same direction to bring more of that open yard and its building facades into view.",
+        "A yard with a large metal gate and a passage between buildings is now opening on the right, which is the kind of industrial area where an exterior wall ladder would be mounted. Nothing ladder-like is visible yet on the walls in front of me, so I will continue the same rightward scan toward that yard.",
+        "The courtyard is now mostly ahead of me, with the garage gate and taller brick buildings framing the far side, but the ladder is still not in view. I will turn right once more to sweep the remaining facades on that side of the yard.",
+        "On the right edge of the view I can now see a slim vertical metal ladder with a safety cage running up the corner of the tall brick building. I will turn right one more step to bring that ladder closer to the center of my view before moving toward it.",
+        "The caged metal ladder is now clearly ahead of me, climbing the corner of the brick building on the right side of the yard. The ground between us is open pavement, so I will walk forward to close the distance toward it.",
+        "My forward step has enlarged the courtyard view and the ladder on the brick corner still sits ahead and slightly right of my heading. The lane between the two buildings remains clear, so I will keep walking forward toward the ladder.",
+        "The brick building on my right is growing larger and the ladder's rungs and support frame are now more distinct as I close in. The path ahead is still open ground, so I will continue walking forward to get within reach of the ladder.",
+        "The tall vertical ladder is fixed to the dark brick wall on my right, rising toward the roofline, and it is still set back some distance ahead of me. The open yard between the puddles is clear, so I will keep walking forward along the alley to close the gap before turning toward the wall. This should bring the ladder's lower rungs within reach of my final approach.",
+        "I have advanced far enough that the ladder on the right brick wall now sits near the edge of my view rather than in front of me. Turning right should swing my heading onto that wall so the ladder and its base line up with my path of travel.",
+        "After the turn, the metal ladder on the brick wall is directly ahead and slightly right, with its rails running from the ground up past the roof edge. The path along the wall is open, so I will step forward to close the remaining distance to its base.",
+        "The ladder now fills much of the right side of my view, its rungs clearly resolved against the brick, so I am close but not yet standing at it. One more step forward should place me right beside the ladder's lower section.",
+        "The wall-mounted metal ladder stands directly beside me, its rungs within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_a/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Go to the long wooden boards leaning against the brick wall between two brick columns.",
+    "Type": 0,
+    "Start_Pose": [
+        -3614.411,
+        -3194.147,
+        227.628,
+        0.0,
+        140.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3614.411,
+            -3194.147,
+            227.628,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -3711.05,
+            -3113.516,
+            198.149,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -3807.689,
+            -3032.885,
+            201.386,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -3904.328,
+            -2952.254,
+            199.326,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -4000.967,
+            -2871.623,
+            199.583,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -4097.607,
+            -2790.992,
+            198.149,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -4097.607,
+            -2790.992,
+            198.149,
+            0.0,
+            140.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Ahead of me in the dim hall I can make out long wooden boards propped at an angle against the brick wall, set back in the recess between two brick columns. My heading already lines up with that gap, so I will step forward to begin closing the distance.",
+        "The leaning boards now read more clearly, with their cross bracing visible against the brickwork just left of the near column. My path across the flagstones stays clear, so I will keep advancing straight toward them.",
+        "The braced boards and the wooden trestle beside them fill more of my view, confirming I am closing on the right recess between the columns. Only scattered bricks lie on the floor ahead, so I will continue forward.",
+        "I am close enough now that the boards rise nearly the full height of my view, still slightly left of the column corner in front of me. A few more steps should bring me right up to them, so I will advance again.",
+        "The leaning boards are directly in front of me, their planks and diagonal braces nearly at arm's length beside the brick column. One more short step should place me at the boards themselves.",
+        "The long wooden boards and their braces are right against me, wedged in the brick recess beside the column. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_b/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Head toward the cable spool resting on the ground.",
+    "Type": 0,
+    "Start_Pose": [
+        -3614.411,
+        -3194.147,
+        227.628,
+        0.0,
+        140.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3614.411,
+            -3194.147,
+            227.628,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -3711.05,
+            -3113.516,
+            198.149,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -3711.05,
+            -3113.516,
+            198.149,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -3832.711,
+            -3081.281,
+            198.287,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -3954.372,
+            -3049.046,
+            199.356,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4076.033,
+            -3016.811,
+            201.286,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4197.694,
+            -2984.576,
+            199.572,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4319.355,
+            -2952.34,
+            201.189,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4319.355,
+            -2952.34,
+            201.189,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -4443.24,
+            -2974.542,
+            201.189,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -4567.126,
+            -2996.743,
+            199.572,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -4691.011,
+            -3018.944,
+            201.357,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -4814.896,
+            -3041.145,
+            201.189,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -4938.782,
+            -3063.347,
+            201.182,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -5062.667,
+            -3085.548,
+            201.182,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -5062.667,
+            -3085.548,
+            201.182,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -5184.328,
+            -3053.313,
+            198.149,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -5305.989,
+            -3021.078,
+            198.149,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -5427.65,
+            -2988.843,
+            198.149,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -5427.65,
+            -2988.843,
+            198.149,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -5427.65,
+            -2988.843,
+            198.149,
+            0.0,
+            165.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this dim brick hall I cannot yet pick out any cable spool, but the paved floor opens up ahead and to the right toward brighter light. I will step forward into that open space so more of the yard beyond the pillars comes into view.",
+        "Straight ahead of me is the brick wall with the leaning plank and workbench, so there is no useful route or target in that direction. The passable, lit stretch of floor lies off to my right, so I will turn that way to face down the open yard.",
+        "Now that I am facing down the long open yard, I can make out low round shapes resting on the ground near the far brick wall, one of which looks like a large flat spool. The floor between me and them is clear paving, so I will advance along it to close the distance and confirm the target.",
+        "The round flat-topped object by the far wall is holding steady slightly right of center and is growing larger, which supports it being the cable spool on the ground. My heading is still good and nothing blocks the paving, so I will keep walking forward.",
+        "The wooden drum shape near the rear wall is clearer now, sitting flat on the ground beside a darker heap. I will continue straight to keep reducing the remaining distance before I fine-tune my heading.",
+        "The spool and the debris pile beside it are noticeably nearer, though the brick pier on my left is starting to crowd the near side of my view. The lane along the right side remains open, so I will step forward again toward the target.",
+        "The flat round spool top is now plainly visible on the ground ahead beside the low concrete troughs. I will advance once more along the clear paving to keep shortening the gap.",
+        "As I have closed in, the spool has drifted off to the right of my view while the brick pier and troughs now fill the space directly ahead of me. I will turn right to bring the spool back toward the center of my heading before continuing the approach.",
+        "The large wooden cable spool is now sitting ahead of me on the ground at the far end of this brick courtyard, near the base of the wall under the barred window. My heading points down the open paved lane toward it with no clutter in the way, so I will step forward to begin closing the distance.",
+        "The spool has grown slightly larger and stays near the center of my view, which tells me my heading is still good. The ground between us is clear apart from the electrical box against the left wall, so another step forward should keep shrinking the gap.",
+        "From here the spool and the stacked pallets beside it are clearly resolved against the rear wall, and I am still well short of them. The lane remains walkable, so I continue advancing along the same heading.",
+        "The spool now stands out plainly in the middle distance with its round wooden drum resting flat on the ground. There is still several paces of open floor before I reach it, so I keep moving forward.",
+        "The spool sits slightly left of center now, but it is still comfortably within my view and the sandy ground ahead is unobstructed. I will take another step forward before worrying about fine heading adjustment.",
+        "The spool is close enough that I can read the planking on its flange, yet it still lies a couple of paces beyond arm's reach. Another forward step should bring me to a proper standing position beside it.",
+        "As I have closed in, the spool has drifted toward the left side of my view while the pallet stack and the second leaning drum now fill the right. Turning left should bring the ground spool back to the center of my heading so my remaining steps carry me straight to it.",
+        "The cable spool now sits near the center of my view, resting flat on the sandy ground with clear floor between us. With my heading squared onto it, I will step forward to close the last of the distance.",
+        "The wooden cable spool now stands just right of center in my view, resting flat on the sandy ground with its drum clearly visible. My heading is aimed straight at it and the ground between us is open, so I will step forward again to close the remaining gap.",
+        "The spool now fills a large part of the lower right of my view, so only a short distance remains before I stand beside it. I will advance one more step to bring myself right up to it rather than stopping short.",
+        "I am now directly beside the spool, and its upper rim is cut off at the lower part of my view while my gaze still falls on the brick wall above. Tilting my head down should place the spool and the ground it rests on fully in view to confirm I have reached it.",
+        "The cable spool lies directly in front of me on the sandy ground, within arm's reach. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t5_a_p/infos.json

@@ -0,0 +1,278 @@
+{
+    "Instruction": "Grab the green bell pepper at the base of the wooden pallets stacked against the wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -3614.411,
+        -3194.147,
+        227.628,
+        0,
+        140.16,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -4507.167,
+        -2797.833,
+        136.968,
+        18.637,
+        -87.019,
+        -94.444
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "TurnLeft",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3614.411,
+            -3194.147,
+            227.628,
+            0,
+            140.16,
+            0
+        ],
+        [
+            -3711.05,
+            -3113.516,
+            198.149,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -3711.05,
+            -3113.516,
+            198.149,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -3832.711,
+            -3081.281,
+            198.287,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -3954.372,
+            -3049.046,
+            199.356,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4076.033,
+            -3016.811,
+            201.286,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4197.694,
+            -2984.576,
+            199.572,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4319.355,
+            -2952.34,
+            201.189,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4319.355,
+            -2952.34,
+            201.189,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4441.016,
+            -2920.105,
+            201.189,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -4441.016,
+            -2920.105,
+            201.189,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -4441.016,
+            -2920.105,
+            201.189,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -4441.016,
+            -2920.105,
+            201.189,
+            0.0,
+            140.16,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4507.167,
+            -2797.833,
+            136.968,
+            18.637,
+            -87.019,
+            -94.444
+        ],
+        [
+            -4453.832,
+            -2936.137,
+            171.493,
+            -28.202,
+            -169.695,
+            1.862
+        ],
+        [
+            -4453.832,
+            -2936.137,
+            171.493,
+            -28.202,
+            -169.695,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        976.8,
+        856.4,
+        856.4,
+        731.6,
+        607.2,
+        483.6,
+        361.5,
+        243.2,
+        243.2,
+        139.0,
+        139.0,
+        20.5,
+        20.5
+    ],
+    "Rationale": [
+        "The green bell pepper is visible far ahead on the open floor beside the brick piers and leaning timber boards. It is far too distant to reach, so I will walk straight forward across the paved floor to close the gap before refining my heading.",
+        "From here the pepper sits right of my heading, partly crowded by the brick pier and the propped boards on my left. Turning right should put me on the open aisle running between the two brick walls, giving a clear straight approach lane toward the pepper's corner.",
+        "The wide aisle between the brick walls now opens straight ahead with nothing blocking the ground. The pepper rests at the wall base slightly left of my path, so walking forward along this clear lane should bring me steadily nearer to it.",
+        "The pepper has grown noticeably larger beside the low concrete trough on my left, confirming I am on the right line. Still several strides away and well outside grabbing range, I will keep walking forward down this open aisle.",
+        "The pepper is now clearly resting on the ground at the corner near the trough, but it remains ahead and to my left, too far for my hands. Another step forward should bring it close enough that I can turn in and reach it.",
+        "The green bell pepper sits ahead on my left, resting against the low concrete trough at the base of the brick pier, and it is still several strides away. My path down the open floor is clear of debris, so I will keep walking forward to close that gap.",
+        "The pepper has grown noticeably larger and now sits low on my left, but it is still beyond comfortable arm's reach. Another step forward should bring me close enough alongside it to attempt a grasp.",
+        "The green pepper now fills the lower left of my view, close beside the concrete trough, and my hands are empty. It looks near enough to take, so I will reach out and try to pick it up.",
+        "My reach came up empty, so the pepper was not actually within grasping range. I should shorten that gap before trying again, so I will step forward toward the trough where it lies.",
+        "After closing in, the pepper has slipped out of my view past the left edge, with only the brick pier and the empty trough ahead of me. Turning left should swing my facing back onto the pepper so a reach can be aimed properly.",
+        "My earlier grab attempt left my hands empty and the green bell pepper still lying on the ground. Now the pepper fills the lower left of my view, close beside the concrete trough at the base of the wall. From this range I will try the grasp again.",
+        "The green bell pepper is now held in my hand. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Walk to the green dumpster, then approach the gas cylinders cluster.",
+    "Type": 3,
+    "Start_Pose": [
+        -3802.843,
+        -1525.655,
+        205.803,
+        0.0,
+        127.68,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3802.843,
+            -1525.655,
+            205.803,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -3879.774,
+            -1426.046,
+            185.158,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -3956.706,
+            -1326.436,
+            172.999,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4033.637,
+            -1226.827,
+            172.999,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4107.313,
+            -1126.877,
+            205.517,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4184.245,
+            -1027.267,
+            202.216,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4184.245,
+            -1027.267,
+            202.216,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4184.245,
+            -1027.267,
+            202.216,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -4184.245,
+            -1027.267,
+            202.216,
+            0.0,
+            177.68,
+            -0.0
+        ],
+        [
+            -4184.245,
+            -1027.267,
+            202.216,
+            0.0,
+            -157.32,
+            0.0
+        ],
+        [
+            -4184.245,
+            -1027.267,
+            202.216,
+            0.0,
+            -132.32,
+            0.0
+        ],
+        [
+            -4184.245,
+            -1027.267,
+            202.216,
+            0.0,
+            -107.32,
+            0.0
+        ],
+        [
+            -4221.714,
+            -1147.419,
+            204.39,
+            0.0,
+            -107.32,
+            0.0
+        ],
+        [
+            -4250.511,
+            -1258.92,
+            211.348,
+            0.0,
+            -107.32,
+            0.0
+        ],
+        [
+            -4250.511,
+            -1258.92,
+            211.348,
+            0.0,
+            -107.32,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The green skip sits ahead of me across the open yard, with the cluster of gas cylinders off to its right. I will walk forward along the concrete to close the distance to the dumpster first.",
+        "The green skip has grown larger and stays centered in my view, so my heading is good. I will keep walking straight toward it.",
+        "The dumpster now fills much of the middle of my view and its rusted green side is clearly resolved. Still some yard between us, so I will advance again.",
+        "The skip's flank dominates my view and I can see the sacks piled at its base, but I am not yet beside it. Another step forward should bring me right up to it.",
+        "The green container's rim and rusted edge are close in front of me now, though I am still a stride short of standing at it. I will step forward once more to reach its side.",
+        "The battered green dumpster is right in front of me, its open rim and peeling paint within arm's reach. I have reached it. I mark reaching the green dumpster before setting off toward the cluster of gas cylinders standing off to my right.",
+        "I am standing at the green dumpster, and the gas cylinders are not in front of me but off to my right side. I will turn right to swing my heading toward them.",
+        "Turning has brought a single gas cylinder into view on the right beside the dumpster, and more of the yard is opening that way. I will keep turning right to bring the whole cylinder cluster in front of me.",
+        "The green skip now sits behind my left shoulder and the yard opens toward the brick workshop, where a lone cylinder stands ahead and more dark bottles lie further right along the wall. I will keep turning right to bring that cylinder cluster into the middle of my view.",
+        "Several grey gas cylinders are now visible on pallets against the brick wall to my right, still off to the side of my heading. Another turn right should place that group squarely in front of me before I walk toward it.",
+        "The cylinder group by the shuttered brick facade sits just right of centre, with more bottles at the right edge of my view. One more turn right should line my body up with the middle of the cluster for a straight walk in.",
+        "The gas cylinders are now spread directly ahead of me, standing on pallets along the brick wall beneath the shutter. With my heading set on them, I will walk forward to close the remaining open ground.",
+        "The cylinders have grown large in front of me, the nearest ones already at the bottom of my view beside the pallets. A final step forward should bring me right up among them at the wall.",
+        "A gas cylinder stands at arm's length beside me against the brick wall. I am at the cylinder cluster, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_b/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Head toward the cluster of gas cylinders, then reach the green dumpster.",
+    "Type": 3,
+    "Start_Pose": [
+        -3802.843,
+        -1525.655,
+        205.803,
+        0.0,
+        127.68,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveBackward",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3802.843,
+            -1525.655,
+            205.803,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -3802.843,
+            -1525.655,
+            205.803,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -3915.001,
+            -1468.993,
+            173.014,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -4026.821,
+            -1411.229,
+            186.456,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -4137.588,
+            -1361.314,
+            209.354,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -4137.588,
+            -1361.314,
+            209.354,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -4137.588,
+            -1361.314,
+            209.354,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4180.747,
+            -1363.611,
+            198.318,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4252.29,
+            -1331.151,
+            198.318,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4192.398,
+            -1386.899,
+            198.149,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4127.912,
+            -1386.902,
+            209.377,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4064.948,
+            -1441.899,
+            197.134,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4064.948,
+            -1441.899,
+            197.134,
+            0.0,
+            102.68,
+            -0.0
+        ],
+        [
+            -4080.623,
+            -1328.014,
+            192.168,
+            0.0,
+            102.68,
+            -0.0
+        ],
+        [
+            -4089.359,
+            -1213.969,
+            194.319,
+            0.0,
+            102.68,
+            -0.0
+        ],
+        [
+            -4089.359,
+            -1213.969,
+            194.319,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4166.291,
+            -1114.359,
+            202.006,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4166.291,
+            -1114.359,
+            202.006,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -4277.869,
+            -1059.771,
+            200.422,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -4277.869,
+            -1059.771,
+            200.422,
+            0.0,
+            152.68,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The gas cylinders are grouped on the open concrete apron to my right, past the low steps, while the green dumpster sits further left along the same yard. Since the cylinders are my first stop, I will turn right to bring that cluster nearer the center of my heading before walking out.",
+        "The gas cylinders now sit close to the middle of my view, standing on the concrete beyond the low step, with clear open ground between me and them. I will walk forward along this heading to close the gap toward that cluster.",
+        "The cylinders have grown noticeably larger and are still directly ahead of me, so my heading is good and the route stays clear. I will keep walking forward to reach the group.",
+        "The nearest cylinders now fill the lower part of my view and the rest of the cluster spreads out just beyond them to the right. A few more steps should put me among the cylinders themselves, so I will advance again.",
+        "The grey gas cylinders now stand right beside me, ringing my position on the concrete and pallets in the near foreground. I have reached the cluster of cylinders. I mark arriving here before setting off toward the green dumpster over on my left.",
+        "I am standing right among the gas bottles and pallets, so my attention now shifts to the long green dumpster sitting off to my left against the pale warehouse wall. My current heading points past it into the open yard. Turning left should bring that dumpster in front of me before I set off toward it.",
+        "The green dumpster now sits ahead and slightly left, with clear open concrete between me and it. Nothing blocks the lane apart from a single bottle near its flank. I will walk forward to close that gap.",
+        "The dumpster has grown noticeably larger and its rusted green side is clearly ahead of me, though still a few strides off. The concrete apron in front stays clear of debris. Another step forward should bring me up beside it.",
+        "I have come in too close and too far along, so the dumpster's near end is cut off at my left shoulder and only its flank fills the view. From here I cannot judge my standing position relative to it properly. Backing up should restore enough distance to see the whole container again.",
+        "The dumpster is more fully in view now, but it still lies off to my left rather than in front, so my heading remains skewed past it. Cylinders crowd the ground close to my right. Stepping back again should open enough room to reorient cleanly toward the container.",
+        "Pressing straight ahead earlier carried me alongside the green dumpster rather than onto it, and it still hangs off to my left behind a low kerb while cylinders crowd my near ground. One more step back should open enough distance to swing my heading cleanly toward it.",
+        "With room regained, the green dumpster still sits off my left shoulder rather than in front of me, so walking straight would only skim past it again. Turning left should bring it into the center of my path and leave the cylinder cluster behind my right side.",
+        "The green dumpster now lies ahead of me, slightly right, with flat yard between us and only a low concrete lip in the way. Walking forward should close that gap along a lane that no longer runs past it.",
+        "The dumpster's green flank has grown noticeably larger and sits just right of my path, so this heading is finally gaining ground on it. I will step forward again to bring myself alongside it.",
+        "I am now close to the dumpster, but it fills the right edge of my view while my heading points at the brick building and the sacks ahead. Turning right should put its green body squarely in front of me for the last short approach.",
+        "The green dumpster now sits squarely ahead of me across the open concrete, with only the bagged rubble off to my left side. Nothing blocks the straight line to its near end, so I will walk forward to close the remaining gap.",
+        "I am now right up against the dumpster's near corner, and its bulk fills the left and centre of my view so I cannot continue straight into it. Turning right should swing the open paved strip along its flank in front of me for a usable final approach.",
+        "The green dumpster now lies along my left with clear paving running forward beside it. I will step ahead along that strip to draw level with the container.",
+        "The green dumpster is immediately beside me, its rim within arm's reach at my left. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_c/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Navigate to the stacked black bags, then proceed to the gas cylinders.",
+    "Type": 3,
+    "Start_Pose": [
+        -3802.843,
+        -1525.655,
+        205.803,
+        0.0,
+        127.68,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3802.843,
+            -1525.655,
+            205.803,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -3879.774,
+            -1426.046,
+            185.158,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -3956.706,
+            -1326.436,
+            172.999,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4033.637,
+            -1226.827,
+            172.999,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4033.637,
+            -1226.827,
+            172.999,
+            0.0,
+            102.68,
+            -0.0
+        ],
+        [
+            -4061.264,
+            -1104.037,
+            179.983,
+            0.0,
+            102.68,
+            -0.0
+        ],
+        [
+            -4082.446,
+            -995.689,
+            192.57,
+            0.0,
+            102.68,
+            -0.0
+        ],
+        [
+            -4082.446,
+            -995.689,
+            192.57,
+            0.0,
+            102.68,
+            -0.0
+        ],
+        [
+            -4082.446,
+            -995.689,
+            192.57,
+            0.0,
+            102.68,
+            -0.0
+        ],
+        [
+            -4082.446,
+            -995.689,
+            192.57,
+            0.0,
+            127.68,
+            -0.0
+        ],
+        [
+            -4082.446,
+            -995.689,
+            192.57,
+            0.0,
+            152.68,
+            -0.0
+        ],
+        [
+            -4082.446,
+            -995.689,
+            192.57,
+            0.0,
+            177.68,
+            -0.0
+        ],
+        [
+            -4082.446,
+            -995.689,
+            192.57,
+            0.0,
+            -157.32,
+            0.0
+        ],
+        [
+            -4082.446,
+            -995.689,
+            192.57,
+            0.0,
+            -132.32,
+            0.0
+        ],
+        [
+            -4165.235,
+            -1089.024,
+            201.271,
+            0.0,
+            -132.32,
+            0.0
+        ],
+        [
+            -4165.235,
+            -1089.024,
+            201.271,
+            0.0,
+            -107.32,
+            0.0
+        ],
+        [
+            -4202.704,
+            -1209.176,
+            225.495,
+            0.0,
+            -107.32,
+            0.0
+        ],
+        [
+            -4202.704,
+            -1209.176,
+            225.495,
+            0.0,
+            -107.32,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this corner of the yard I can pick out the heap of black bags sitting on the pavement beside the green skip, with the gas cylinders clustered further right. The bags are my first destination, so I walk forward across the open ground to close the gap.",
+        "The bag pile beside the skip has grown larger ahead of me and the ground between us is clear, flat concrete. I keep walking forward to shorten the remaining distance.",
+        "The black bags now spread clearly across the lower left of my view, just past the low steps in front of the green skip. Another step forward should bring me up onto that level with them.",
+        "The stacked bags have drifted off to my left while the skip sits squarely in front of me. I turn left so my heading points at the bag pile instead of the container beside it.",
+        "With the bags now lying ahead of me on the paved strip beside the skip, the way is open. I step forward to bring myself right up beside the pile.",
+        "The bags are close now, filling the bottom of my view where the paving meets the skip. One more step should place me right at the edge of the pile.",
+        "The bags have slipped below the bottom edge of my view, which means they are practically at my feet. I look down to bring the pile back into sight and confirm I am standing at it.",
+        "The heap of black bags lies directly below me, close enough to touch, with the green skip at my shoulder. I have reached the stacked bags. I mark arriving here before setting off across the yard toward the gas cylinders.",
+        "The heap of black bags is right beside me at the foot of the skip, so nothing more is needed here. The gas bottles stood off across the yard to my right when I first surveyed this place, so I will turn right to swing my heading away from the bags and toward that side.",
+        "My view now covers the green skip and the pale workshop fronts, but no gas bottles have come into it yet. I will keep turning right to carry the sweep further around the yard toward the open ground beyond the skip.",
+        "A single dark gas bottle has appeared on the pavement past the right end of the skip, which tells me the cluster lies further round that way. I will turn right again to bring more of that ground into view.",
+        "Bottles are now showing along the paved strip ahead and to my right, in front of the brick building. Another right turn should put that cluster nearer the middle of my view before I set off.",
+        "The main group of gas bottles sits on the right against the brick wall, still off to the side of my heading. I will turn right once more so they lie straight in front of me and the walk in is direct.",
+        "The gas bottles now stand ahead of me on the pallets beside the shuttered brick wall, with clear paving between us. I will walk forward to cut down that gap.",
+        "From this closer position the bottles have spread across the lower left and right of my view, so my heading is running past them rather than into them. A small right turn should bring the cluster squarely in front for the last few steps.",
+        "The gas bottles are now grouped just ahead of me on both sides of the shuttered opening, only a short stretch of sand away. I will step forward to close that last distance and stand among them.",
+        "The gas cylinders stand right beside me at arm's length along the brick wall. Both destinations are reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003821_y-001017_z000217_t0_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Walk to the large blue metal door at the end.",
+    "Type": 0,
+    "Start_Pose": [
+        -3821.441,
+        -1017.357,
+        216.717,
+        0.0,
+        -89.28,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3821.441,
+            -1017.357,
+            216.717,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3819.859,
+            -1143.206,
+            217.252,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3818.278,
+            -1269.055,
+            217.252,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3816.696,
+            -1394.904,
+            217.252,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3815.115,
+            -1520.753,
+            205.144,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3813.533,
+            -1646.602,
+            192.163,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3811.952,
+            -1772.451,
+            192.518,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3810.37,
+            -1898.3,
+            192.629,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3807.776,
+            -1945.798,
+            192.629,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3804.416,
+            -1945.887,
+            192.629,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3782.851,
+            -1954.523,
+            192.629,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3782.851,
+            -1954.523,
+            192.629,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3782.851,
+            -1954.523,
+            192.629,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            -3724.875,
+            -2064.703,
+            192.679,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            -3670.256,
+            -2178.092,
+            192.679,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            -3670.256,
+            -2178.092,
+            192.679,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3668.674,
+            -2303.941,
+            195.116,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3667.093,
+            -2429.79,
+            204.731,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3667.093,
+            -2429.79,
+            204.731,
+            0.0,
+            -89.28,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The large blue metal door sits at the far end of this brick alley, roughly straight ahead and just left of my heading. Nothing blocks the paved strip in front of me, so I will move forward to begin closing the long distance to it.",
+        "The door and its flanking windows now appear slightly larger, confirming my heading is carrying me toward the target. The lane ahead is still open, with the rubble and sacks off to my left, so another forward step should keep shrinking the gap.",
+        "The blue door remains near the middle of my view and the courtyard beyond the alley is opening up, so my current heading is still good. I will continue forward rather than adjust, since the target has not drifted off center.",
+        "I can now see the stone step and threshold at the base of the blue metal door, which means I am well inside the courtyard. The ground between me and the door looks passable apart from scattered bricks and a dark patch, so I will press forward.",
+        "The riveted blue door now fills a large part of my view, with its two windows on either side clearly resolved, so I am getting close. It still lies a little left of straight ahead, but the remaining distance is the main issue, so I will take another step forward.",
+        "The large blue metal door is clearly ahead of me, slightly left of center in the courtyard wall, and my heading is close enough to keep it in view. A dark water-filled hollow and a heap of bags lie to my left, but the ground straight ahead looks passable, so I will continue forward to close the remaining distance.",
+        "The door now fills much more of my view, confirming that my current heading leads straight to it. The dark depression in the ground sits mostly to my left front, so I will push forward again to keep shrinking the gap.",
+        "I am close enough that the door and its two flanking windows dominate my view, with the raised threshold step just beyond the dark hollow in front of me. I will move forward once more to reach the paved strip immediately before the door.",
+        "My last step advanced much less than the earlier ones, and the door has barely grown in my view, which suggests the low rim of the sunken ground is holding me back. I will attempt another forward step to see whether I can still edge closer to the door.",
+        "That last attempt gained almost nothing, since the door and its flanking windows look nearly unchanged, so the depression edge in front of me is resisting my advance. I will try forward again in the hope of clearing the rim and regaining ground toward the door.",
+        "The blue metal door is now filling the wall right in front of me, but one of my recent forward steps barely moved me at all, so something near my feet may be limiting the straight approach. I will tilt my view downward to inspect the ground immediately ahead, since the courtyard here looks broken and darkly flooded. That should tell me whether the last stretch to the door is walkable or has to be skirted.",
+        "With my view lowered I can see a wide dark water-filled depression with loose rubble spread across the ground directly between me and the door threshold, which explains why a forward push gained almost nothing. The drier paved strip lies off to my right side of this pit, so I will turn right to take up a heading that may let me travel around the flooded ground instead of into it. The door stays close on my left as a reference while I reroute.",
+        "Now that I am angled off the flooded hollow, the pavement ahead of me looks solid and clear, with the blue metal door sitting on my left along the brick facade. I will move forward along this drier line to get past the water and rubble that stalled my direct approach. This should carry me alongside the door rather than into the pit.",
+        "The last step moved me cleanly along the pavement, and the blue metal door has grown larger at the left edge of my view while the pallets stacked against the wall mark the far side of the flooded ground. I will take another forward step to finish clearing the water and draw level with the door. After that I should be close enough to turn back toward it.",
+        "I have moved past the flooded hollow and the stacked pallets are now beside me, with the blue metal door pushed to the left edge of my view. I will turn left to bring the door back to the center of my heading so I can close the final distance straight onto its threshold. That should put the target squarely in front of me again.",
+        "The large blue metal door with its rusted diamond bracing now sits squarely ahead of me, with the pallet stack safely off to my right. Since my heading is centered on the door panel, I will step forward to close the remaining gap along the paved strip in front of it.",
+        "The rusted blue door panel now fills most of my view and the brick jamb beside it is close enough to show individual bricks, so only a short gap remains. I will take one more forward step to bring myself right up against the door as the task requires.",
+        "The rusted blue metal door and its brick jamb fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003821_y-001017_z000217_t0_b/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Approach the pile of dark garbage bags on the ground.",
+    "Type": 0,
+    "Start_Pose": [
+        -3821.441,
+        -1017.357,
+        216.717,
+        0.0,
+        -89.28,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3821.441,
+            -1017.357,
+            216.717,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3819.859,
+            -1143.206,
+            217.252,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3818.278,
+            -1269.055,
+            217.252,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3816.696,
+            -1394.904,
+            217.252,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3815.115,
+            -1520.753,
+            205.144,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -3815.115,
+            -1520.753,
+            205.144,
+            0.0,
+            -114.28,
+            0.0
+        ],
+        [
+            -3866.867,
+            -1635.48,
+            192.593,
+            0.0,
+            -114.28,
+            0.0
+        ],
+        [
+            -3918.62,
+            -1750.206,
+            177.954,
+            0.0,
+            -114.28,
+            0.0
+        ],
+        [
+            -3918.62,
+            -1750.206,
+            177.954,
+            0.0,
+            -114.28,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this end of the narrow brick yard I can already pick out a heap of dark garbage bags on the ground ahead, slightly left of center against the far left wall. The paved lane between the two buildings runs straight toward it with no obstruction in my path, so I will move forward to start closing that distance.",
+        "The pile of bags is noticeably larger in view now and still sits ahead and a bit to my left, so my heading remains usable. The ground in front stays clear gravel and pavement, so I will keep moving forward rather than adjust direction yet.",
+        "I can now make out individual bags in the heap along the left wall, which confirms I am on the right line toward the target. There is still a good gap of open ground before I reach it, so another forward step is the efficient move.",
+        "The bag pile is close on my left side and the stacked pallets stay well clear to my right, so I have room to continue straight. I will advance once more to bring myself alongside the heap before fine tuning my heading.",
+        "The heap of dark bags now lies to my left rather than straight ahead, so continuing forward would carry me past it toward the metal door. I will turn left to bring the pile into the center of my view and align my heading for a direct final approach.",
+        "After the turn the pile of bags is centered ahead of me at the foot of the brick wall, so my heading is now pointed straight at the target. I will move forward to close the remaining gap.",
+        "The bags now fill much of the lower half of my view but there is still a short stretch of stone ground before them. One more forward step should place me directly at the edge of the pile.",
+        "The dark garbage bags now fill the foreground directly in front of me, within arm's reach. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_a/infos.json

@@ -0,0 +1,66 @@
+{
+    "Instruction": "Walk to the pile of garbage bags.",
+    "Type": 0,
+    "Start_Pose": [
+        -4144.795,
+        -461.051,
+        180.545,
+        0.0,
+        -18.24,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4144.795,
+            -461.051,
+            180.545,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -4025.26,
+            -500.445,
+            194.957,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -3905.725,
+            -539.838,
+            201.315,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -3786.19,
+            -579.232,
+            205.113,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -3786.19,
+            -579.232,
+            205.113,
+            0.0,
+            -18.24,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the pile of dark garbage bags ahead near the base of the brick factory wall, slightly left of center in my view. My heading already points down the open yard toward it, so I will step forward to begin closing the gap.",
+        "The garbage bags now appear larger and lower in my view, confirming that my previous step brought me closer along the correct line. The path ahead is still clear ground, so I will keep advancing without adjusting my heading.",
+        "The pile of bags and the cardboard boxes beside it now fill much of the left side of my view, so I am close but not yet standing at them. One more forward step should place me directly beside the pile.",
+        "The pile of garbage bags is right beside me, filling the near left of my view within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_c/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Navigate to the wooden pallet leaning against the structure.",
+    "Type": 0,
+    "Start_Pose": [
+        -4144.795,
+        -461.051,
+        180.545,
+        0.0,
+        -18.24,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4144.795,
+            -461.051,
+            180.545,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -4025.26,
+            -500.445,
+            194.957,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -4025.26,
+            -500.445,
+            194.957,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            -3900.276,
+            -485.63,
+            202.551,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            -3775.292,
+            -470.815,
+            205.491,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            -3775.292,
+            -470.815,
+            205.491,
+            0.0,
+            31.76,
+            -0.0
+        ],
+        [
+            -3668.279,
+            -404.567,
+            211.634,
+            0.0,
+            31.76,
+            -0.0
+        ],
+        [
+            -3561.266,
+            -338.32,
+            228.709,
+            0.0,
+            31.76,
+            -0.0
+        ],
+        [
+            -3561.266,
+            -338.32,
+            228.709,
+            0.0,
+            31.76,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot at the mouth of the yard I can see stacked timber and pallet boards along the raised platform to my right, but the leaning pallet itself is still partly hidden behind rubble and debris. I will move forward into the open yard to shorten the distance and get a clearer look at that pile.",
+        "Now that I am further into the yard, the wooden pallets and planks are clearly stacked along the loading platform to my right while my heading points down the alley between the brick buildings. I will turn right to bring that pallet stack and the platform toward the center of my view before advancing.",
+        "The pallets are now visible ahead on the right, with one board leaning up against the yellow and black striped platform edge. The paved ground between me and them is clear, so I will move forward to close the gap.",
+        "The leaning pallet against the striped platform wall is bigger in my view now, but still several steps off to my right front. I will keep moving forward along the open paving to continue closing the distance.",
+        "The pallets and the leaning board are now close but sitting well off to my right, while my heading still runs down the yard past them. I will turn right so the leaning pallet against the platform is squarely in front of me for a straight final approach.",
+        "The leaning pallet is now centered in front of me, propped against the striped concrete platform with flat pallets stacked at its base. I will step forward to close the remaining short distance to it.",
+        "I am nearly beside the leaning pallet, and it fills a good part of my lower left view against the platform wall. One more forward step should bring me right up to it.",
+        "The wooden pallet is directly in front of me, leaning against the striped platform wall within arm's reach. The navigation task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t5_a_p/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Pick up the metal bucket beside the pile of garbage bags.",
+    "Type": 5,
+    "Start_Pose": [
+        -4144.795,
+        -461.051,
+        180.545,
+        0,
+        -18.24,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -3739.296,
+        -569.114,
+        123.685,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4144.795,
+            -461.051,
+            180.545,
+            0,
+            -18.24,
+            0
+        ],
+        [
+            -4025.26,
+            -500.445,
+            194.957,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -3905.725,
+            -539.838,
+            201.315,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -3905.725,
+            -539.838,
+            201.315,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -3905.725,
+            -539.838,
+            201.315,
+            0.0,
+            -18.24,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -3739.296,
+            -569.114,
+            123.685,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -3739.296,
+            -569.114,
+            123.685,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -3739.296,
+            -569.114,
+            123.685,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -3899.621,
+            -519.366,
+            168.644,
+            -28.202,
+            31.905,
+            1.862
+        ],
+        [
+            -3899.621,
+            -519.366,
+            168.644,
+            -28.202,
+            31.905,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        419.7,
+        294.1,
+        169.0,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The metal bucket stands ahead in the yard, right next to the heap of garbage bags along the brick wall. It is far too distant to reach from here, so I will walk straight forward to close that gap while my heading already points at it.",
+        "The bucket now sits noticeably larger and lower in my view, but it is still a few paces off and outside grasping range. I will keep walking straight ahead to bring it close enough for an interaction attempt.",
+        "The metal bucket now fills the lower center of my view, directly in front of me with the garbage bags at its left, so it should be within arm's reach. My hands are empty, so I will attempt to grasp it now rather than step closer.",
+        "The metal bucket is now held in my hands, no longer resting on the ground. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Locate the tall stacks of wooden pallets near the doorway and pillar; once found, approach them.",
+    "Type": 1,
+    "Start_Pose": [
+        -4317.441,
+        -3015.454,
+        201.386,
+        0,
+        99.84,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0,
+            99.84,
+            0
+        ],
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            24.84,
+            -0.0
+        ],
+        [
+            -4203.226,
+            -2962.583,
+            199.409,
+            0.0,
+            24.84,
+            -0.0
+        ],
+        [
+            -4203.226,
+            -2962.583,
+            199.409,
+            0.0,
+            -0.16,
+            0.0
+        ],
+        [
+            -4077.367,
+            -2962.934,
+            201.167,
+            0.0,
+            -0.16,
+            0.0
+        ],
+        [
+            -3951.509,
+            -2963.285,
+            199.377,
+            0.0,
+            -0.16,
+            0.0
+        ],
+        [
+            -3951.509,
+            -2963.285,
+            199.377,
+            0.0,
+            24.84,
+            -0.0
+        ],
+        [
+            -3837.294,
+            -2910.414,
+            198.149,
+            0.0,
+            24.84,
+            -0.0
+        ],
+        [
+            -3723.079,
+            -2857.542,
+            198.149,
+            0.0,
+            24.84,
+            -0.0
+        ],
+        [
+            -3723.079,
+            -2857.542,
+            198.149,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -3680.175,
+            -2791.812,
+            199.858,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -3680.175,
+            -2791.812,
+            199.858,
+            0.0,
+            49.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "My view is filled by a close brick pillar and a dark brick wall with a shuttered window, and I see no stacked pallets or doorway from here. I will turn left to begin a consistent scan of this interior for the pallet stacks named in the task.",
+        "The rotation has brought a timber brace and another brick pier into view, but still no tall pallet stacks and no clear opening. I will keep turning left in the same direction to extend the scan across the unseen part of the room.",
+        "Daylight now leaks in through windows on the far left and I can make out loose boards leaning near a pier, which suggests the open side of the hall lies further left. I will continue the same leftward scan to bring that bright opening and the timber area fully into view.",
+        "A large bright doorway is now open ahead on my left, with a brick pillar beside it and pale wooden boards leaning against that pillar. Since this matches the doorway and pillar described in the task, I will walk forward to close distance and see the stacked pallets more clearly.",
+        "The lit doorway sits off to my left while the brick pillar and the stacked boards crowd the center of my view. I will turn left to line my heading up with the doorway passage so I can advance straight toward the pillar area holding the pallets.",
+        "The doorway is now centered in my view, and I can see pale wooden pallets propped and stacked along the walls to either side of the passage. I will walk forward along this open floor to get near those stacks by the pillar.",
+        "The pallet stacks on the right side of the passage have grown noticeably larger and are clearly tall piles of wooden pallets against the brick. The floor ahead is still clear, so I will keep walking forward to bring myself alongside them.",
+        "The tall stacks of wooden pallets are now close on my right, piled against the wall beside the pillar next to the lit doorway, while my heading still points out through the opening. I will turn right to face those stacks directly instead of walking past them.",
+        "The tall stacks of wooden pallets are now clearly in view ahead and slightly right, piled against the brick pillar beside the open doorway that lets daylight in on the left. The floor between me and them looks clear, so I will walk forward to close the distance on the stacks.",
+        "The pallet stacks now fill much more of my view, with a leaning pallet propped in front of the tall pile beside the pillar. I am still a few paces short of them, so I will step forward again to get right up to the stacks.",
+        "I am now close beside the pallet piles, but the bulk of the tall stacks sits to my right along the wall while my heading still points past the pillar and window. I will turn right to face the stacked pallets squarely before making my final step toward them.",
+        "The stacked pallets now fill the view directly ahead, with the leaning pallet and the deep piles against the wall right in front of me. I will take one short step forward to stand directly at the stacks.",
+        "The tall wooden pallet stacks fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_b/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Discover where several small metal cabinets are stacked together, then navigate to that location.",
+    "Type": 1,
+    "Start_Pose": [
+        -4317.441,
+        -3015.454,
+        201.386,
+        0.0,
+        99.84,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            149.84,
+            -0.0
+        ],
+        [
+            -4426.262,
+            -2952.22,
+            201.386,
+            0.0,
+            149.84,
+            -0.0
+        ],
+        [
+            -4426.262,
+            -2952.22,
+            201.386,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4551.611,
+            -2940.901,
+            199.572,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4676.96,
+            -2929.582,
+            201.108,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4802.309,
+            -2918.262,
+            201.332,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4802.309,
+            -2918.262,
+            201.332,
+            0.0,
+            174.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see a brick pillar close in front of me, dark walls, and a long concrete trough, with no stacked metal cabinets anywhere in sight. I will turn right to begin a consistent scan of this enclosed yard and open up the area hidden beyond the pillar.",
+        "The corner ahead shows the trough against two brick walls, and at the far right edge a pale boxy object with a vertical seam is just entering view. I will continue turning right in the same direction to bring that promising metal object fully into sight.",
+        "Now I can see past the pillar into an open corridor of the yard, and a pale metal cabinet-like unit stands against the brickwork ahead on the right, with more clutter beyond it. I will walk forward to close distance and confirm whether several cabinets are stacked there.",
+        "The large brick pillar now fills the center of my view and pushes the pale metal unit toward its right edge. I will turn right to place that cabinet and the open passage beside it in front of me before advancing further.",
+        "The corridor is now open in front of me with the pale metal unit standing along the left wall further down. I will walk forward along this clear stone floor to get close enough to judge how many cabinets are stacked there.",
+        "The metal unit on my left is noticeably larger now and looks like more than one boxy cabinet body set together against the wall. I will keep walking forward to reach it and resolve the stacking clearly.",
+        "I can now distinguish at least two small metal cabinets set one on top of another against the left wall, matching the target description. I will step forward once more to stand directly beside the stack.",
+        "The stacked small metal cabinets fill the left side of my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_c/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Search for the wooden cable reel rack and, once you identify it, reach that area.",
+    "Type": 1,
+    "Start_Pose": [
+        -4317.441,
+        -3015.454,
+        201.386,
+        0.0,
+        99.84,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            149.84,
+            -0.0
+        ],
+        [
+            -4317.441,
+            -3015.454,
+            201.386,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4442.79,
+            -3004.135,
+            201.386,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4568.139,
+            -2992.815,
+            199.572,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4693.488,
+            -2981.496,
+            201.262,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4818.837,
+            -2970.176,
+            201.247,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -4944.186,
+            -2958.857,
+            201.303,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -5069.535,
+            -2947.538,
+            200.078,
+            0.0,
+            174.84,
+            -0.0
+        ],
+        [
+            -5069.535,
+            -2947.538,
+            200.078,
+            0.0,
+            -160.16,
+            0.0
+        ],
+        [
+            -5187.923,
+            -2990.253,
+            198.149,
+            0.0,
+            -160.16,
+            0.0
+        ],
+        [
+            -5306.312,
+            -3032.969,
+            198.149,
+            0.0,
+            -160.16,
+            0.0
+        ],
+        [
+            -5424.292,
+            -3070.748,
+            198.149,
+            0.0,
+            -160.16,
+            0.0
+        ],
+        [
+            -5424.292,
+            -3070.748,
+            198.149,
+            0.0,
+            -160.16,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this starting corner I only see brick walls, a timber brace on my left, and a metal trough, with no wooden cable reel anywhere in view. I will turn right to begin a steady scan of the surrounding space in one consistent direction.",
+        "The new heading still shows a closed brick corner with the long trough and a shuttered window, so the target is not here either. I will keep turning right to continue the scan and check whether the space opens up beyond this wall.",
+        "Past the brick pier on my right the space opens into a lit yard, and near its far wall I can make out a low round drum shape that could be a cable reel. I will turn right once more to bring that opening and the round object into the centre of my heading.",
+        "The yard is now straight ahead with a clear paved lane between the brick pier on my left and the wall on my right, and the round spool sits near the far end. I will walk forward along this open lane to close distance and confirm that shape is the wooden cable reel.",
+        "The round drum near the far wall has grown larger and a second curved panel now shows beside it, which fits stacked reel material. The floor ahead is still clear, so I will keep walking forward toward that cluster.",
+        "I can now see the round spool clearly on its axis with leaning discs behind it, which supports it being the cable reel area. The lane past the cabinets on my left remains open, so I will continue advancing.",
+        "The plank-topped spool and the large discs stacked against the right wall are now plainly wooden cable reels, so this is the area I need to reach. I will step forward again to close the remaining gap across the open yard.",
+        "The wooden reels and the pallet stack beside them fill much of the view ahead, confirming the target area, though I am still several paces short of standing among them. I will keep walking forward over the open sandy floor to reach that group.",
+        "The wooden cable reels are clearly visible ahead against the far brick wall, with one standing upright and others leaning beside the stacked pallets. The open sandy floor between me and them is clear, so I will keep walking forward to close the remaining distance to that reel area.",
+        "From here the reel cluster sits slightly right of my heading, with the leaning reels and pallet stack pushed toward the right edge of my view. I will turn right so the whole wooden reel group is centered ahead before continuing to close in.",
+        "The turn has brought the cluster of wooden cable reels and the pallet stack squarely in front of me against the corner wall. The ground ahead is open, so I will step forward to reach that reel area.",
+        "The reels now fill much of my view, the flat-lying one on the left and the upright rack of reels and pallets directly ahead. I am still a few paces short of standing at the pile, so I will continue walking forward.",
+        "I am close enough now that the wooden reel faces and their planked rims dominate the view, with the stacked pallets just to the right. One more short step forward should place me right at the reel rack area the task asks me to reach.",
+        "The wooden cable reels and their pallet rack are directly in front of me, filling my view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Walk to the green dumpster near the stairs.",
+    "Type": 0,
+    "Start_Pose": [
+        -4333.728,
+        -614.734,
+        160.356,
+        0.0,
+        171.84,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4333.728,
+            -614.734,
+            160.356,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4578.775,
+            -633.331,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4699.236,
+            -669.793,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4819.698,
+            -706.254,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4940.16,
+            -742.715,
+            143.658,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -5046.489,
+            -798.784,
+            146.013,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -5166.951,
+            -835.245,
+            151.386,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -5287.412,
+            -871.706,
+            163.335,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -5287.412,
+            -871.706,
+            163.335,
+            0.0,
+            -138.16,
+            0.0
+        ],
+        [
+            -5358.733,
+            -887.956,
+            170.828,
+            0.0,
+            -138.16,
+            0.0
+        ],
+        [
+            -5358.733,
+            -887.956,
+            170.828,
+            0.0,
+            -138.16,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can pick out a green dumpster far off to the right, sitting beside a short flight of steps between the brick buildings, while the red warehouse doors fill the left of my view. A wide puddle and some gas cylinders lie ahead, but the open yard gives me room to advance. I will move forward to close part of that distance and get a clearer line on the dumpster.",
+        "The green dumpster is still well off to my right, near the stairs by the brick building, while my heading points at the warehouse wall on the left. Continuing straight would drift me past the target. I will turn right to bring the dumpster closer to the center of my view before pushing on.",
+        "After turning, the green dumpster now sits ahead and slightly right, with the short stairs just beside it, confirming it as the target described. The gravel strip between the cable spool and the puddle looks passable. I will move forward along this heading to shorten the gap.",
+        "The green dumpster has grown noticeably larger ahead of me and the steps to its left are now clearly visible. Nothing blocks the gravel lane between the spool on my left and the timber on my right. I will keep moving forward to continue closing the distance.",
+        "My heading still points squarely at the green dumpster beside the stairs, and it keeps expanding in my view as I advance. There is plenty of open ground before it, so no course change is needed yet. I will move forward again.",
+        "The dumpster now occupies a good part of the middle of my view, with the stone steps just to its left, but I am not yet close enough to call myself at it. The path between the pallet stacks and the loose planks stays walkable. I will step forward once more to keep narrowing the gap.",
+        "The green dumpster fills much of the right-center of my view and its rusted rim is easy to read, so I am nearly there. Only a short stretch of rubble-strewn gravel separates us, with the pallet stack safely to my left. I will continue forward toward it.",
+        "The dumpster is now large and just right of my centerline, with a brick lying in the gravel between us. A little more forward travel should bring me alongside it rather than leaving me short. I will move forward again.",
+        "The green dumpster now fills the right side of my view and the stacked pallets and stair steps sit along the left wall, confirming I am in the correct corner of the yard. I am still offset back from it, so I will push forward again over the gravel to close the remaining gap.",
+        "I am now close beside the dumpster, but its body runs off toward the right edge of my view while my heading points down the yard past it. Turning right should swing the green container into the center of my view so I face it squarely for the last step.",
+        "The green dumpster is now centered directly ahead with its open rim clearly in front of me, and the pallets sit off to my left rather than in my path. One more short forward step should bring me right up against it at a proper stopping distance.",
+        "The green dumpster is directly in front of me, filling my view at arm's length beside the stairs. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_c/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Move to the wooden cable spool on the ground.",
+    "Type": 0,
+    "Start_Pose": [
+        -4333.728,
+        -614.734,
+        160.356,
+        0.0,
+        171.84,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4333.728,
+            -614.734,
+            160.356,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4578.775,
+            -633.331,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4699.236,
+            -669.793,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4819.698,
+            -706.254,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4819.698,
+            -706.254,
+            140.876,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4921.067,
+            -693.44,
+            142.879,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4921.067,
+            -693.44,
+            142.879,
+            0.0,
+            171.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the yard I can pick out the large wooden cable spool lying on the ground just beyond the row of gas cylinders, a bit right of straight ahead. It is still far off, so I will step forward over the open gravel to close some of that gap and get a clearer read on the ground around it.",
+        "Straight ahead of me the cluster of gas cylinders and pallets sits right against the spool, so pushing directly onward would put me into that clutter. I will turn right toward the open yard between the shed wall and the green skip, which looks like the clear lane for approaching the spool from its near side.",
+        "With the yard now opening ahead of me, the spool sits on my left beside the cylinders and the pale wall. I will walk forward along this clear stretch to bring myself level with it.",
+        "The spool's flat wooden disc is noticeably larger on my left now, so my heading through this open yard is working. I will keep advancing to shorten the remaining distance before I swing toward it.",
+        "The spool is close on my left, with its upper rim and the pallets under it clearly in view. One more step forward should carry me alongside it so a left turn puts it squarely in front of me.",
+        "The spool has slid to the far left edge of my view, almost past me, while I am facing down the yard toward the skip. I will turn left to bring the spool back to the center of my heading before making my final step in.",
+        "The wooden spool is now centered right in front of me, resting on its pallets with the cylinders off to the left. A short step forward should place me directly at it, close enough to count as reached.",
+        "The wooden spool's planked face fills the near ground immediately in front of me, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_d/infos.json

@@ -0,0 +1,76 @@
+{
+    "Instruction": "Navigate to the cluster of gas cylinders near the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -4333.728,
+        -614.734,
+        160.356,
+        0.0,
+        171.84,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4333.728,
+            -614.734,
+            160.356,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4582.898,
+            -579.006,
+            140.138,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4707.482,
+            -561.141,
+            141.139,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4832.067,
+            -543.277,
+            141.139,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4832.067,
+            -543.277,
+            141.139,
+            0.0,
+            171.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the cluster of gas cylinders sitting on pallets against the pale wall beside the red doors, slightly left of my center of view but well within my forward path. The distance is still considerable across the open gravel yard, so I will move forward to begin closing on them.",
+        "The cylinder cluster has grown noticeably larger and remains near the center-left of my view, so my heading is still aligned with the target. Nothing blocks the ground between me and the pallets, so I will continue straight ahead.",
+        "The cylinders now fill much of the lower center of my view with the wall and cable spool framing them, confirming I am approaching the right spot. I am still a few steps short of standing at the cluster, so I will advance again.",
+        "The nearest cylinders are close but still a short gap of ground lies in front of them, and the wall behind is clearly near. One more forward step should place me right at the cluster without pushing into it.",
+        "The gas cylinder cluster fills the foreground directly in front of me against the wall. The task is complete, so I stop here rather than crowd into the cylinders."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_a_p/infos.json

@@ -0,0 +1,335 @@
+{
+    "Instruction": "Grab the plate at the base of the green dumpster near the stairs.",
+    "Type": 5,
+    "Start_Pose": [
+        -4333.728,
+        -614.734,
+        160.356,
+        0,
+        171.84,
+        0
+    ],
+    "PD_ID": 16,
+    "PD_Size": 3.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -5204.744,
+        -1070.811,
+        139.337,
+        90,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4333.728,
+            -614.734,
+            160.356,
+            0,
+            171.84,
+            0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4578.775,
+            -633.331,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4699.236,
+            -669.793,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4699.236,
+            -669.793,
+            140.876,
+            0.0,
+            -138.16,
+            0.0
+        ],
+        [
+            -4793.003,
+            -753.747,
+            140.876,
+            0.0,
+            -138.16,
+            0.0
+        ],
+        [
+            -4886.769,
+            -837.702,
+            141.867,
+            0.0,
+            -138.16,
+            0.0
+        ],
+        [
+            -4886.769,
+            -837.702,
+            141.867,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -5007.231,
+            -874.163,
+            141.047,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -5127.693,
+            -910.624,
+            147.94,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -5127.693,
+            -910.624,
+            147.94,
+            0.0,
+            -138.16,
+            0.0
+        ],
+        [
+            -5127.693,
+            -910.624,
+            147.94,
+            0.0,
+            -113.16,
+            0.0
+        ],
+        [
+            -5145.69,
+            -986.847,
+            172.874,
+            0.0,
+            -113.16,
+            0.0
+        ],
+        [
+            -5145.69,
+            -986.847,
+            173.927,
+            0.0,
+            -113.161,
+            0.0
+        ],
+        [
+            -5145.69,
+            -986.847,
+            173.927,
+            0.0,
+            -113.161,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5204.744,
+            -1070.811,
+            139.337,
+            90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -5125.817,
+            -994.685,
+            136.628,
+            -28.202,
+            -63.016,
+            1.862
+        ],
+        [
+            -5125.817,
+            -994.685,
+            136.628,
+            -28.202,
+            -63.016,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        983.2,
+        884.2,
+        884.2,
+        763.7,
+        645.3,
+        645.3,
+        519.7,
+        394.3,
+        394.3,
+        278.7,
+        177.8,
+        177.8,
+        177.8,
+        102.7,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The green dumpster sits far ahead on the right, beside the steps at the far end of this yard, so the plate I need must be down at its base. Nothing blocks the gravel in front of me, so I walk forward to cut down that long distance before refining my heading.",
+        "Now that I am closer, the red warehouse doors fill the left of my view while the green dumpster and the steps sit off to my right. My current heading would carry me into the building wall instead of the target. I turn right to swing my facing toward the dumpster corner of the yard.",
+        "With the turn done, the green dumpster and the steps beside it are now framed ahead across the open yard. The gravel strip past the gas cylinders gives me a clear line, so I walk forward to close distance toward it.",
+        "The dumpster and the pale round tank next to it have grown noticeably larger, confirming my heading is still good. I am not close enough for any object at its base to be reachable, so I keep walking forward along this line.",
+        "Straight ahead the ground drops into a wide sheet of standing water with scattered planks, which is a poor line to keep walking. The drier gravel lane runs to my right along the brick building and leads down to the dumpster and its steps. I turn right to take that side.",
+        "From this heading the green dumpster and the round tank sit ahead on the left, with open gravel between me and them. I walk forward along this drier lane to keep closing on the dumpster base where the plate should be.",
+        "The dumpster, the tank and the long planks leaning near the steps are all much closer now, but still too far for a grab. The path in front stays clear of the water, so I continue forward.",
+        "The green dumpster has slid well over to the left edge of my view while the brick facade and its doorway take up the center. Continuing on this heading would carry me past the target. I turn left to bring the dumpster and the ground at its base back in front of me.",
+        "The green dumpster sits ahead of me with the pale round plate propped against the debris just to its right, and my heading now lines up with that gap. I still have several strides of open gravel between us, so I will walk forward to close the distance before attempting any grasp.",
+        "The dumpster and the plate beside it have grown noticeably larger, confirming I am closing on the right spot. The plate is still out at arm's reach beyond a stretch of rubble, so another step forward should bring me into interaction range.",
+        "I am now close beside the dumpster, but my heading has drifted so that the plate has slipped past the right edge of my view and only the container's side fills the frame. Turning right should swing the plate back into view where I can line up on it.",
+        "The plate is back in sight, standing on the pallet at the far right of my view while the dumpster still occupies the left. One more turn to the right should place it near the center of my heading so I can step straight at it.",
+        "The plate now stands directly ahead of me on the boards beside the dumpster, centered in my path. It is still a stride away, so I will walk forward to bring it within reach for the grab.",
+        "The plate now fills the lower center of my view, close enough that its rim is right in front of me beside the dumpster. This is the object named in the task, so I will attempt to pick it up.",
+        "The plate is in my hands, held securely rather than resting by the dumpster. The task is done, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004374_y-003145_z000201_t0_a/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Approach the electrical box on the brick wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -4374.448,
+        -3144.585,
+        201.183,
+        0.0,
+        175.68,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4374.448,
+            -3144.585,
+            201.183,
+            0.0,
+            175.68,
+            -0.0
+        ],
+        [
+            -4499.95,
+            -3135.104,
+            199.572,
+            0.0,
+            175.68,
+            -0.0
+        ],
+        [
+            -4499.95,
+            -3135.104,
+            199.572,
+            0.0,
+            150.68,
+            -0.0
+        ],
+        [
+            -4609.686,
+            -3073.473,
+            199.572,
+            0.0,
+            150.68,
+            -0.0
+        ],
+        [
+            -4719.422,
+            -3011.841,
+            201.0,
+            0.0,
+            150.68,
+            -0.0
+        ],
+        [
+            -4829.158,
+            -2950.21,
+            201.385,
+            0.0,
+            150.68,
+            -0.0
+        ],
+        [
+            -4829.158,
+            -2950.21,
+            201.385,
+            0.0,
+            150.68,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see a pale metal electrical cabinet mounted against the brick wall on the left side of this narrow yard, well ahead of me. I will move forward along the open stone floor to close the gap before I refine my heading toward it.",
+        "After advancing, the electrical box sits noticeably off to my left against the brick wall while my heading still points down the middle of the yard. I will turn left to bring the box closer to the center of my view so a straight approach becomes possible.",
+        "The electrical cabinet now sits near the middle of my view against the left brick wall, with unobstructed floor between us. I will move forward along this heading to reduce the remaining distance.",
+        "The cabinet has grown larger and its panel details are becoming visible, so my heading is carrying me correctly toward it. I will continue forward since I am still several steps short of being right up against it.",
+        "The box now fills a large part of the left side of my view, but a short gap of floor still separates me from the wall it is mounted on. I will take one more step forward to stand directly at the cabinet.",
+        "The electrical box on the brick wall now stands directly before me, close enough to read its worn label plate. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004374_y-003145_z000201_t5_a_p/infos.json

@@ -0,0 +1,183 @@
+{
+    "Instruction": "Pick up the trash bag directly below the electrical box on the brick wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -4374.448,
+        -3144.585,
+        201.183,
+        0,
+        175.68,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -4937.383,
+        -2961.34,
+        100.077,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4374.448,
+            -3144.585,
+            201.183,
+            0,
+            175.68,
+            0
+        ],
+        [
+            -4499.95,
+            -3135.104,
+            199.572,
+            0.0,
+            175.68,
+            -0.0
+        ],
+        [
+            -4625.451,
+            -3125.624,
+            200.822,
+            0.0,
+            175.68,
+            -0.0
+        ],
+        [
+            -4750.953,
+            -3116.143,
+            200.943,
+            0.0,
+            175.68,
+            -0.0
+        ],
+        [
+            -4750.953,
+            -3116.143,
+            200.943,
+            0.0,
+            150.68,
+            -0.0
+        ],
+        [
+            -4860.689,
+            -3054.512,
+            198.149,
+            0.0,
+            150.68,
+            -0.0
+        ],
+        [
+            -4860.689,
+            -3054.512,
+            198.149,
+            0.0,
+            150.68,
+            -0.0
+        ],
+        [
+            -4860.689,
+            -3054.512,
+            198.149,
+            0.0,
+            150.68,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -4937.383,
+            -2961.34,
+            100.077,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4937.383,
+            -2961.34,
+            100.077,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4937.383,
+            -2961.34,
+            100.077,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4937.383,
+            -2961.34,
+            100.077,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4937.383,
+            -2961.34,
+            100.077,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4937.383,
+            -2961.34,
+            100.077,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4870.613,
+            -3073.429,
+            168.256,
+            -28.202,
+            -159.175,
+            1.862
+        ],
+        [
+            -4870.613,
+            -3073.429,
+            168.256,
+            -28.202,
+            -159.175,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        592.0,
+        470.7,
+        352.5,
+        242.3,
+        242.3,
+        120.7,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The dark trash bag sits on the ground ahead on the left, directly beneath the gray electrical box mounted on the brick wall. It is still far down the yard, so I will walk forward to close the distance along this open path.",
+        "The bag beneath the electrical box now appears larger and lower on the left side, confirming I am closing on the correct target. Nothing blocks the ground between us, so I will keep walking forward.",
+        "The bag is now clearly near the base of the left wall under the boxes, but still several paces off to my left front. I will advance again to get within grasping range before adjusting my heading.",
+        "My forward heading has carried the bag out to the far lower-left corner of my view, where I cannot approach it straight on. Turning left should swing the bag and the electrical box above it back toward the center of my view for a direct final approach.",
+        "The turn worked: the trash bag now sits centered in front of me on the ground, with the gray electrical cabinet on the brick wall just above it. It is still a step or two away, so I will walk forward to bring it within reach.",
+        "I have closed to the wall beside the shelving and the electrical box, and the bag has dropped below the bottom edge of my view, which means it lies right at my feet. My hands are still empty, so I will attempt to grasp it now.",
+        "The trash bag is now held in my hands rather than resting on the pavement. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Walk to the red door marked number 8.",
+    "Type": 0,
+    "Start_Pose": [
+        -4476.771,
+        -369.999,
+        140.29,
+        0.0,
+        124.8,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4476.771,
+            -369.999,
+            140.29,
+            0.0,
+            124.8,
+            -0.0
+        ],
+        [
+            -4548.6,
+            -266.65,
+            140.699,
+            0.0,
+            124.8,
+            -0.0
+        ],
+        [
+            -4620.43,
+            -163.301,
+            139.663,
+            0.0,
+            124.8,
+            -0.0
+        ],
+        [
+            -4692.259,
+            -59.952,
+            139.514,
+            0.0,
+            124.8,
+            -0.0
+        ],
+        [
+            -4764.089,
+            43.397,
+            141.972,
+            0.0,
+            124.8,
+            -0.0
+        ],
+        [
+            -4835.918,
+            146.746,
+            153.793,
+            0.0,
+            124.8,
+            -0.0
+        ],
+        [
+            -4835.918,
+            146.746,
+            153.793,
+            0.0,
+            99.8,
+            -0.0
+        ],
+        [
+            -4857.341,
+            270.769,
+            141.302,
+            0.0,
+            99.8,
+            -0.0
+        ],
+        [
+            -4878.763,
+            394.791,
+            141.302,
+            0.0,
+            99.8,
+            -0.0
+        ],
+        [
+            -4900.185,
+            518.813,
+            141.302,
+            0.0,
+            99.8,
+            -0.0
+        ],
+        [
+            -4900.185,
+            518.813,
+            141.302,
+            0.0,
+            99.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the open yard I can see the row of red doors along the workshop wall, with the one marked 8 to the left of the numbered pair 4 and 6. It stands well ahead across the gravel, so I will move forward to begin closing that distance while keeping it in view.",
+        "Door 8 has grown slightly larger and remains left of center, confirming my heading is still usable. The ground straight ahead past the puddle is clear, so I will continue forward toward the wall.",
+        "The wall with doors 8 and 4 now fills much of my view, so I am steadily gaining ground. Nothing blocks the route between the stacked pipes on my left and the low bushes on my right, so another forward step should bring me closer.",
+        "Door 8 is close enough now that its number is clearly legible on the left side of my view, while the wall corner sits ahead. I will keep advancing to shorten the remaining gap before fine-tuning my heading.",
+        "I am nearly at the recessed corner, with door 8 occupying the left half of my view and door 4 to the right of the corner. One more forward step should place me within the door's immediate area before I straighten onto it.",
+        "My heading points into the corner between the two doors, so target door 8 is offset to the left rather than centered. I will turn left to bring the red door marked 8 to the middle of my view before advancing again.",
+        "The turn worked, and the red door with the number 8 now sits squarely in front of me with its full width visible. I will move forward to close the last of the distance to its face.",
+        "Door 8 fills most of my view and the painted 8 is large and clear on its left panel, so I am only a short step away. I will advance once more to stand directly at the door.",
+        "The peeling red door with the painted 8 now fills nearly my whole view, with its central seam just right of center and the ground still visible at the bottom edge. A short step forward should close the last bit of gap and put me directly in front of the marked door.",
+        "The red door's weathered panels and central seam fill my view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Approach the red door marked number 6.",
+    "Type": 0,
+    "Start_Pose": [
+        -4476.771,
+        -369.999,
+        140.29,
+        0.0,
+        124.8,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4476.771,
+            -369.999,
+            140.29,
+            0.0,
+            124.8,
+            -0.0
+        ],
+        [
+            -4476.771,
+            -369.999,
+            140.337,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4585.548,
+            -306.689,
+            140.233,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4694.325,
+            -243.38,
+            141.137,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4803.101,
+            -180.07,
+            139.112,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4803.101,
+            -180.07,
+            139.112,
+            0.0,
+            174.8,
+            -0.0
+        ],
+        [
+            -4928.442,
+            -168.663,
+            135.933,
+            0.0,
+            174.8,
+            -0.0
+        ],
+        [
+            -4982.717,
+            -178.882,
+            137.305,
+            0.0,
+            174.8,
+            -0.0
+        ],
+        [
+            -5002.651,
+            -206.562,
+            148.356,
+            0.0,
+            174.8,
+            -0.0
+        ],
+        [
+            -5166.936,
+            -239.493,
+            141.119,
+            0.0,
+            174.8,
+            -0.0
+        ],
+        [
+            -5166.936,
+            -239.493,
+            141.119,
+            0.0,
+            174.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see two red doors along the far wall, and the one marked 6 sits well off to my right beyond the corner. My heading currently points at the door marked 8, so I will turn right to bring number 6 toward the center of my view before advancing.",
+        "The red door marked 6 now sits in the right half of my view with open, mostly flat ground between us. I will move forward to close the large gap toward that wall.",
+        "The wall has grown noticeably larger and the numeral 6 is clearly legible on the red door to my right. The ground straight ahead is still open, so I will continue forward to keep closing distance.",
+        "I am now fairly close to the wall, with the pile of blue bags sitting to the right of center in front of door 6 and clear ground on my current line. I will move forward again to shorten the remaining distance to the door.",
+        "Door 6 has drifted to the right edge of my view as I approached, while the neighboring door and the concrete pillar now sit ahead of me. I will turn right to bring the numeral 6 back to the center of my heading before the final approach.",
+        "The red door with the painted 6 is now centered directly ahead, with the bag pile offset to my left and open gravel on my line of travel. I will move forward to close the last stretch to the door.",
+        "The rusted red panel and its number 6 now dominate my view, and only a short stretch of gravel remains in front of it. I will step forward again to get right up to the door.",
+        "I am very close now, with the numeral 6 high on the left and the door's pitted metal filling nearly the whole view. I will advance a little more to settle directly in front of the marked door.",
+        "The red door bearing the number 6 now fills most of my view, with its marking just left of center and the bag pile safely off to my left edge. There is still a short gap of open ground between me and the door panel, so I will move forward once more to close that last bit of distance.",
+        "The red door panel now fills my entire view at arm's length. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Head toward the red door marked six, then reach the red door marked with number four.",
+    "Type": 3,
+    "Start_Pose": [
+        -4481.79,
+        -145.862,
+        150.72,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4481.79,
+            -145.862,
+            150.72,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4607.609,
+            -142.699,
+            139.556,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4733.429,
+            -139.536,
+            139.556,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4859.248,
+            -136.373,
+            137.546,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4967.467,
+            -138.977,
+            134.486,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4978.848,
+            -168.923,
+            136.274,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4978.848,
+            -168.923,
+            136.274,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -5053.483,
+            -231.362,
+            139.033,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -5053.483,
+            -231.362,
+            139.033,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4968.7,
+            -195.028,
+            137.024,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4884.002,
+            -158.095,
+            135.861,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4884.002,
+            -158.095,
+            135.861,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4884.002,
+            -158.095,
+            135.861,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -4884.002,
+            -158.095,
+            135.861,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -4955.599,
+            -57.745,
+            130.881,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -5009.517,
+            51.036,
+            151.361,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -5087.97,
+            149.452,
+            142.568,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -5166.422,
+            247.868,
+            141.064,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -5166.422,
+            247.868,
+            141.064,
+            0.0,
+            128.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Two red doors face me across the open yard, and the one with the six painted on it stands to the right of centre. It is still far off, so I will walk forward to close the gap toward that door first.",
+        "The six on the red door is larger and clearer now, roughly ahead of me, with the trash bags heaped low against the wall to its left. Nothing blocks the ground in front of my feet, so I keep walking straight toward that door.",
+        "The door with the six now fills much of my view, but I am still several paces short of it. I continue forward, keeping to the right of the piled bags so they stay out of my path.",
+        "The bags crowd the lower left of my view while the red panel with the six rises directly ahead. There is still open gravel to my right side, so I press forward to get close to that door.",
+        "The numbered panel is very near, its rust and the small latch clearly readable, and only a short strip of ground remains before the wall. I take one more short step forward to stand right at the door with the six.",
+        "I am close under the red door bearing the six, but the bags press against my left and the wall face runs off to my right. Turning right should swing my heading onto the clear gravel beside the door so I can step in along it.",
+        "With my heading swung along the wall, the red door panels and their latch fill the view and the ground ahead is clear gravel beside the gas cylinders. I walk forward to bring myself right up against this six-marked door.",
+        "The weathered red door I was heading for is now directly in front of me, close enough to touch its peeling panels and latch. I have arrived at it. I mark reaching it, then set off for the other red door, the one painted with a four back along this wall.",
+        "I am standing right against the rusted red door I came here for, so close that its panels fill nearly everything ahead of me. To set off for the other red door, the one marked four along this same wall, I need room to see and swing around, so I will step back from the metal.",
+        "Backing off has opened the view, and I can now see the door edge, the corner wall, and the gas cylinders to my right. I am still too close and too tight against this corner to turn cleanly toward the other red door, so I will keep stepping back.",
+        "From here the numeral six is visible again on the door face to my left, which means the door marked four lies farther along the wall in that same leftward direction. I will turn left to swing my heading away from this corner and toward the rest of the facade.",
+        "The turn has brought the six-marked door back in front of me, but the neighbouring door I want is still out of sight beyond the left edge. I will turn left again to bring more of the wall into view.",
+        "The wall now shows both doors, with the six on the right and another red door bearing a four on the left. My heading still points between them, so one more left turn should put the four-marked door ahead of me.",
+        "I am now facing along the wall with the far red doors ahead and the rubbish bags off to my right rather than in my path. With the way across the open ground clear, I will walk forward toward the door marked four.",
+        "The red door with the faint four is closer now, just past the pale wall section on my right. The ground between us is open, so I will keep walking straight at it.",
+        "The door marked four now stands close on my right, its number visible near the frame edge. I am not yet alongside it, so I will step forward again to close the last of the gap.",
+        "The red door bearing the faint number four now fills the right side of my view, with its white edge column just ahead of me. I am close but still short of standing at it, so I will walk one more step forward to close that last gap.",
+        "The red door marked four stands directly before me, filling my view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-005421_y-002328_z000198_t1_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Search for a small white metal door inside the room; once identified, proceed to its location.",
+    "Type": 1,
+    "Start_Pose": [
+        -5421.33,
+        -2327.543,
+        198.149,
+        0.0,
+        -148.8,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -148.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -123.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -98.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -73.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -48.8,
+            0.0
+        ],
+        [
+            -5338.428,
+            -2422.241,
+            201.339,
+            0.0,
+            -48.8,
+            0.0
+        ],
+        [
+            -5255.526,
+            -2516.939,
+            199.459,
+            0.0,
+            -48.8,
+            0.0
+        ],
+        [
+            -5172.624,
+            -2611.638,
+            198.149,
+            0.0,
+            -48.8,
+            0.0
+        ],
+        [
+            -5115.673,
+            -2704.274,
+            201.386,
+            0.0,
+            -48.8,
+            0.0
+        ],
+        [
+            -5115.673,
+            -2704.274,
+            201.386,
+            0.0,
+            -48.8,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, I only see a dark brick wall, stacked gas cylinders and leaning timber beams, with no sign of a small white metal door. Since nothing here matches the target, I will turn right to begin a steady scan of the room in one consistent direction.",
+        "The new heading still shows only shuttered windows, brick masonry and old wooden framing along a cluttered corner. No white metal door has appeared yet, so I will keep rotating right to continue the scan without breaking direction.",
+        "The room opens up on this side, with brick pillars and a bright floor area beyond the debris, which suggests more of the room is worth sweeping. I still cannot see a small white metal door in this heading, so I will turn right again to bring the open bay fully into view.",
+        "A pale white metal door with a small placard is now visible at the right edge of my view, set in the brick wall of the open bay. I will turn right once more to bring that door closer to the center of my heading before advancing toward it.",
+        "The small white metal door now sits ahead of me in the brick wall, roughly centered in my heading, with clear open floor between us. I will walk forward to close that distance.",
+        "The white door has grown larger and its rusted lower edge and sign are clearer, so my heading is carrying me straight at it. I will keep stepping forward since the floor ahead is still clear.",
+        "The door now fills much of the view, with its warning plate readable and the brick pier beside it close on my left. I am not yet at its face, so I will take another step forward.",
+        "I am nearly at the white metal door, its surface and sign dominating my view with only a short gap of floor left. One more step forward should place me directly at its location.",
+        "The white metal door fills my view at arm's length in its brick frame. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-005421_y-002328_z000198_t1_b/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Identify where black garbage bags are piled up, then head over to that spot.",
+    "Type": 1,
+    "Start_Pose": [
+        -5421.33,
+        -2327.543,
+        198.149,
+        0.0,
+        -148.8,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -148.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -123.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -98.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -73.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -48.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            -23.8,
+            0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            1.2,
+            -0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            26.2,
+            -0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            51.2,
+            -0.0
+        ],
+        [
+            -5421.33,
+            -2327.543,
+            198.149,
+            0.0,
+            76.2,
+            -0.0
+        ],
+        [
+            -5391.308,
+            -2205.317,
+            199.3,
+            0.0,
+            76.2,
+            -0.0
+        ],
+        [
+            -5391.308,
+            -2205.317,
+            199.3,
+            0.0,
+            101.2,
+            -0.0
+        ],
+        [
+            -5415.755,
+            -2081.855,
+            201.386,
+            0.0,
+            101.2,
+            -0.0
+        ],
+        [
+            -5440.201,
+            -1958.393,
+            198.32,
+            0.0,
+            101.2,
+            -0.0
+        ],
+        [
+            -5440.201,
+            -1958.393,
+            198.32,
+            0.0,
+            126.2,
+            -0.0
+        ],
+        [
+            -5514.534,
+            -1856.83,
+            198.32,
+            0.0,
+            126.2,
+            -0.0
+        ],
+        [
+            -5514.534,
+            -1856.83,
+            198.32,
+            0.0,
+            126.2,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing a dark brick wall with gas cylinders and stacked timber in front of me, and there is no sign of piled black garbage bags anywhere in this view. I will turn right to begin a consistent scan of this derelict interior for the bag pile.",
+        "The view has shifted along the same wall and now shows more scaffolding timbers and a shuttered window, still with no black bags in sight. I will keep rotating right in the same direction to sweep further around the room.",
+        "A brick pillar now splits the view and an open floor area with a doorway opens up to the right, which looks more promising than the cluttered corner behind me. I will continue turning right to bring that open space fully into view.",
+        "I can see an open bay with a metal door and a bricked archway, but the floor here is bare and there is still no pile of black bags. I will keep the rotation going to the right to inspect the next section of wall and floor.",
+        "This part of the room is just a closed metal door and empty paving, so nothing here matches the piled garbage bags I am looking for. I will continue the same rightward sweep to cover the remaining unseen walls.",
+        "I am now looking straight at a flat brick wall with a louvred window and nothing on the ground in front of it. I will turn right again to move past this blank wall and keep searching for the bag pile.",
+        "The wall continues ahead, but a lighter gap is appearing at the right edge that suggests an opening into another space. I will keep turning right toward that gap since unexplored openings are the likeliest place to find piled bags.",
+        "A large arched passage with daylight beyond has come into view on the right side, and the ground near it looks cluttered with debris. I will turn right once more to face that passage and the area beside it, where refuse may well be piled.",
+        "My scan has opened up an interior bay with a bright doorway ahead, but I still see no pile of black bags along this brick wall. I will keep turning right in the same direction to sweep the remaining part of this room, where the lighter window wall may reveal stacked refuse.",
+        "Turning right has brought a dim corner into view where dark sacks and pallets sit against the window wall on my right side. That clutter is the best cue for the piled black bags, so I will walk forward into the open floor to get close enough to confirm it.",
+        "From this closer position the heap of dark bags and pallets is off to my right, near the tall barred window, while my heading still points at the far doorway. I will turn right to put that pile in front of me so I can walk straight at it.",
+        "The turn has brought the pile of black garbage bags into clear view ahead and slightly right, stacked beside a cardboard box and wooden pallets under the window. I will walk forward across the open floor to close the remaining distance to it.",
+        "The black bags are now plainly visible piled in the corner to the right of the tall window, and nothing blocks the floor between us. I will keep walking forward to shorten the gap to that pile.",
+        "I am close to the bags now, but they sit at the right edge of my view while the window and wall fill the center. I will turn right to center the pile so my final step should take me straight to it.",
+        "The heap of black garbage bags is now centered in front of me in the corner, with a cardboard box resting on top. I will step forward once more to stand right at the pile.",
+        "The pile of black garbage bags fills the corner directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000000_y000624_z000209_t1_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Explore the area and navigate to a large iron gate covered entirely in orange-red rust.",
+    "Type": 1,
+    "Start_Pose": [
+        -0.187,
+        623.862,
+        208.976,
+        0.0,
+        -65.28,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -0.187,
+            623.862,
+            208.976,
+            0.0,
+            -65.28,
+            0.0
+        ],
+        [
+            -0.187,
+            623.862,
+            208.976,
+            0.0,
+            -40.28,
+            0.0
+        ],
+        [
+            -0.187,
+            623.862,
+            208.976,
+            0.0,
+            -15.28,
+            0.0
+        ],
+        [
+            -0.187,
+            623.862,
+            208.976,
+            0.0,
+            9.72,
+            -0.0
+        ],
+        [
+            -0.187,
+            623.862,
+            208.976,
+            0.0,
+            34.72,
+            -0.0
+        ],
+        [
+            -0.187,
+            623.862,
+            208.976,
+            0.0,
+            59.72,
+            -0.0
+        ],
+        [
+            -0.187,
+            623.862,
+            208.976,
+            0.0,
+            84.72,
+            -0.0
+        ],
+        [
+            -0.187,
+            623.862,
+            208.976,
+            0.0,
+            109.72,
+            -0.0
+        ],
+        [
+            -42.655,
+            742.34,
+            211.082,
+            0.0,
+            109.72,
+            -0.0
+        ],
+        [
+            -85.123,
+            860.817,
+            206.686,
+            0.0,
+            109.72,
+            -0.0
+        ],
+        [
+            -127.59,
+            979.295,
+            202.843,
+            0.0,
+            109.72,
+            -0.0
+        ],
+        [
+            -170.058,
+            1097.773,
+            214.29,
+            0.0,
+            109.72,
+            -0.0
+        ],
+        [
+            -212.526,
+            1216.251,
+            220.547,
+            0.0,
+            109.72,
+            -0.0
+        ],
+        [
+            -212.526,
+            1216.251,
+            220.547,
+            0.0,
+            109.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot I mostly see a brick workshop wall with boarded windows and a plain wooden door, nothing resembling a large rusted iron gate. The open yard with rails and gantry structures continues off to my right, so I will turn right to begin a consistent scan of that side of the industrial yard.",
+        "The yard ahead now shows gantry towers, rails and distant sheds, but still no large iron gate covered in orange-red rust. I will keep turning right in the same direction to bring more of the unseen buildings on that side into view.",
+        "A pale-walled workshop and green-red containers fill this heading, and none of these surfaces is the wide rusted gate I need. Continuing the same rightward rotation should reveal the facades further along this row.",
+        "Ahead I see stacked rusty pipes and a brick building with a small door and window, but no large gate panel. I will turn right again to sweep past the pipe stack toward the taller brick facades on that side.",
+        "The brick hall on my right is closer now, but the openings I can see are boarded with pale panels rather than rusted metal. Another right turn should bring the rest of this hall's frontage into view.",
+        "Turning this way has brought the gabled brick hall almost fully in front of me, and near its right edge a large panel shows a strong orange-red discoloration unlike the pale boarded doors beside it. I will turn right once more to bring that promising rusted panel toward the center of my view.",
+        "The wide rust-stained gate is now clearly visible in the brick wall, still sitting right of my heading. One more right turn should center it so I can walk straight toward it.",
+        "The large iron gate covered in orange-red rust is now roughly centered ahead of me in the brick wall. The ground between us is open apart from the bagged debris on my left, so I will walk forward to close the distance.",
+        "The wide metal gate set into the brick wall ahead is now clearly showing its orange-red rust staining, matching the target described in my task. It still sits well back across the open dirt yard, so I will keep walking straight toward it while my heading stays centered on it.",
+        "The rusted gate panel now fills a larger part of my view and its orange-red corrosion is unmistakable against the surrounding brickwork. The ground in front of me is still clear apart from scattered weeds, so I will step forward again to close the remaining distance.",
+        "The rusted iron gate now dominates my forward view, with its corroded orange-red surface reaching from the ground to the lintel above. I am still a few paces short of standing right at it, so I will continue walking straight ahead.",
+        "I am now very close to the large iron gate, with its rusted panels filling nearly everything in front of me. One more step forward should bring me right up against it so I can confirm I have reached the target.",
+        "I am standing directly against the large iron gate, its surface entirely covered in orange-red rust. The task target is reached, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000132_y-002871_z000198_t1_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "There is an exit already visible in this room; locate the other exit that is not the one currently in view, then make your way to it.",
+    "Type": 1,
+    "Start_Pose": [
+        132.095,
+        -2870.576,
+        198.148,
+        0.0,
+        -44.16,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -44.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -69.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -94.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -119.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -144.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -169.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            10.06,
+            -2839.787,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -111.975,
+            -2808.998,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -234.01,
+            -2778.209,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -356.045,
+            -2747.42,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -478.08,
+            -2716.631,
+            198.053,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -594.308,
+            -2714.496,
+            198.393,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -716.343,
+            -2683.707,
+            211.761,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -838.378,
+            -2652.918,
+            208.849,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -838.378,
+            -2652.918,
+            208.849,
+            0.0,
+            165.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The green metal door filling my view is the exit I already know about, so it cannot be my goal. I will turn left to sweep the walls behind me and look for a second way out of this room.",
+        "Turning has only brought me a boarded panel with a keep out sign over crumbling brick, which is solid wall rather than a passage. I will keep rotating left to bring more of the room's perimeter into view.",
+        "A grimy window sits in this stretch of plaster and brick, but a window is not a way out. I will continue turning left to inspect the wall further round.",
+        "This wall runs on with more window openings and rubble along its base, still offering no passage. I will turn left again to reach the far end of the room where the wall may break.",
+        "I can now see the room open up to the left, with sacks and stacked pallets on the floor and a darker recess beyond them. I will turn left once more to bring that far end of the room fully in front of me.",
+        "An arched doorway with a green door stands at the far end of the room, and daylight from the yard shows through it, so this is a second way out and not the door I started facing. I will turn left once more to line my heading up with that archway before walking.",
+        "The lit archway now sits near the middle of my view with a clear stretch of floor leading to it, the crates to my left and the sacks and pallets to my right. I will walk forward and commit to closing the distance to that doorway.",
+        "The archway has grown larger and stays straight ahead, so my heading is good and nothing blocks the lane between the crates and the piled sacks. I will keep walking toward it.",
+        "The doorway keeps swelling dead ahead and the bright yard beyond it is clearer with every step, so my line into it is holding. The open floor between the boxes on my left and the pallets on my right remains wide enough to pass. I will keep advancing.",
+        "From here the green door leaf inside the arch is distinct and daylight spills onto the floor just short of the threshold, confirming this opening leads outside. Nothing stands between me and it except empty ground. I will continue walking straight at it.",
+        "The arch now spans a good part of my view and the sacks that were on my right have dropped back to the near edge, so I am close and still clear of them. My heading needs no correction. Another step forward should bring the threshold within reach.",
+        "The opening is wide in front of me, its door swung inward to the right, leaving the gap free to walk through. I can pick out the yard's buildings and a rusted tank through it. I will press on toward the threshold.",
+        "The brick jambs frame my view now and the cobbles of the outer yard start just a pace or two ahead. I am aimed through the free half of the opening rather than at the door leaf. Stepping forward should carry me under the arch.",
+        "I am standing in the opening itself, with sky, the yard's far buildings and the tank filling the view and the door leaf hard against my right shoulder. One more step should take me clear of the threshold and out of the room.",
+        "I stand out in the open yard with the archway's brickwork now beside me. This second exit has been reached, so nothing further is needed."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000132_y-002871_z000198_t1_b/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Search for a stack of wooden pallets or wooden shelving within the room; once identified, navigate to that structure.",
+    "Type": 1,
+    "Start_Pose": [
+        132.095,
+        -2870.576,
+        198.148,
+        0.0,
+        -44.16,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -44.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -69.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -94.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -119.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -144.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            -169.16,
+            0.0
+        ],
+        [
+            132.095,
+            -2870.576,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            10.06,
+            -2839.787,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -111.975,
+            -2808.998,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -234.01,
+            -2778.209,
+            198.148,
+            0.0,
+            165.84,
+            -0.0
+        ],
+        [
+            -234.01,
+            -2778.209,
+            198.148,
+            0.0,
+            -169.16,
+            0.0
+        ],
+        [
+            -234.01,
+            -2778.209,
+            198.148,
+            0.0,
+            -144.16,
+            0.0
+        ],
+        [
+            -342.042,
+            -2821.046,
+            198.148,
+            0.0,
+            -144.16,
+            0.0
+        ],
+        [
+            -342.042,
+            -2821.046,
+            198.148,
+            0.0,
+            -144.16,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see a boarded door with a keep out sign, crumbling brickwork, and a slice of open yard, with no wooden pallets or shelving anywhere in view. I will turn left to begin a steady scan in one consistent direction, opening up the darker interior side of this ruined structure. This should reveal whether stacked timber is sitting along the walls I cannot currently see.",
+        "The view now holds only a shuttered window over patched brick and plaster, so no pallet stack or timber shelf has appeared yet. I will keep rotating left at the same pace to sweep the next slice of wall without breaking my scan direction. More of this interior side may hold stored wooden material.",
+        "Another stretch of ruined wall with a dark broken window has come into view, and still nothing resembling stacked pallets or wooden racking. I will continue the left rotation to keep uncovering unseen parts of the room. The darker corner developing on the left edge is the direction most likely to open into storage space.",
+        "I can now see a row of window openings along this wall and the ground clearing toward the left, which suggests the space widens in that direction. I will turn left again to bring that opening area into the centre of my view. Any stored pallets are more likely on that open floor than against this bare facade.",
+        "Piles of sacks and an exposed roof truss have appeared on the left, and further along that side I can make out low horizontal slats that may be stacked timber. I will turn left once more to bring that promising storage area properly into view. Centering it should let me confirm whether it is a pallet stack.",
+        "The room has opened into a long derelict hall with an archway ahead, sacks along the floor, and what clearly looks like layered wooden pallets stacked near the right wall. I will turn left one more step to square my heading with the length of the hall. That should give me a clean forward path toward the timber stack.",
+        "My heading is now down the length of the hall, with the lit archway ahead and a stack of wooden pallets standing against the right wall past the sacks. The floor between me and it looks clear of obstacles, so I will walk forward to close the distance. Advancing should also make the pallet stack easier to confirm.",
+        "The pallet stack on the right has grown noticeably larger and its individual boards are now distinct, confirming I am closing on it. The path ahead past the crates and sacks is still unobstructed, so I will keep walking forward. A few more steps should bring me level with the structure.",
+        "The stacked wooden pallets leaning against the right-hand brick wall are now clearly visible and much larger than before, so my heading down this ruined hall is correct. I will keep walking forward along the open floor between the crate on my left and the refuse bags on my right to close the remaining distance.",
+        "I have advanced far enough that the pallet stack now sits off to my right side rather than ahead of me, while my current heading points at the far doorway. I will turn right to bring the wooden pallets back toward the center of my view before continuing.",
+        "The wooden pallet stack against the wall is now on the right side of what I can see, so my heading is still not squared onto it. Another right turn should place the structure directly in front of me for a straight final approach.",
+        "The stack of wooden pallets is now centered ahead of me against the brick wall, with only a short stretch of debris-free floor between us. I will step forward to close that last gap and stand at the structure.",
+        "The stack of wooden pallets fills the view directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_b/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Move to the base of the leftmost gantry support post.",
+    "Type": 2,
+    "Start_Pose": [
+        427.576,
+        285.708,
+        203.686,
+        0.0,
+        168.96,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            427.576,
+            285.708,
+            203.686,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            304.046,
+            309.809,
+            206.602,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            180.516,
+            333.911,
+            209.676,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            180.516,
+            333.911,
+            209.676,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            78.746,
+            407.96,
+            211.308,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            -23.024,
+            482.009,
+            210.258,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            -124.795,
+            556.058,
+            211.655,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            -124.795,
+            556.058,
+            211.655,
+            0.0,
+            118.96,
+            -0.0
+        ],
+        [
+            -185.736,
+            666.179,
+            211.655,
+            0.0,
+            118.96,
+            -0.0
+        ],
+        [
+            -246.677,
+            776.301,
+            212.219,
+            0.0,
+            118.96,
+            -0.0
+        ],
+        [
+            -307.617,
+            886.422,
+            215.337,
+            0.0,
+            118.96,
+            -0.0
+        ],
+        [
+            -368.558,
+            996.543,
+            215.337,
+            0.0,
+            118.96,
+            -0.0
+        ],
+        [
+            -368.558,
+            996.543,
+            215.337,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            -461.782,
+            1076.179,
+            197.174,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            -554.541,
+            1155.382,
+            197.203,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            -612.876,
+            1189.157,
+            197.532,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            -612.876,
+            1189.157,
+            197.532,
+            0.0,
+            143.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The overhead gantry crosses the yard on a row of riveted lattice legs, and counting them from here the leftmost is the one planted beside the tall brick workshop on the left, near its rusted doorway. The legs all look alike, so I hold onto that building as its marker. I walk forward along the tracks to close the open distance.",
+        "The gantry now fills more of my view and the leg beside the left brick workshop is still well off to my forward left, past the green skip. The paving straight ahead remains clear, so another step forward is the cheapest way to shorten the gap before I swing toward that side.",
+        "Walking straight would carry me down the middle of the yard toward the far sheds, while the leg I want stands off to my left by the brick workshop with the rusted door. I turn left to put that side of the yard in front of me so my next steps head at the post rather than past it.",
+        "The turn has brought the left-hand workshop with its rusted orange door squarely ahead, with the gantry leg I am after standing on the open ground before it. The route across the paving past the green skip looks unobstructed, so I step forward to close on the post.",
+        "The skip and its heap of rubbish bags have grown noticeably, confirming I am gaining ground on the wall where my post stands. Nothing blocks the paving in front of my feet, so I keep walking rather than adjusting my heading yet.",
+        "I am now beside the skip, with the workshop wall close on my left and the lattice ironwork rising at the edge of my view. The gap between the skip and the building is still ahead of me, so I advance again to reach the ground where the post is footed.",
+        "The skip has swung across the right of my view and my heading now points along it instead of at the post, whose ladder-braced lattice stands off to my left against the brick wall. I turn left to bring that post back into the middle of my view before stepping in.",
+        "The turn has centered the ladder-braced lattice post standing hard against the workshop wall, just right of the rusted orange door. The strip of sand and paving between me and its footing is open, with the skip clear to my right, so I walk straight in toward its base.",
+        "The brickwork with its stained orange door has swelled across my view, and the ironwork with the caged ladder is now only a short strip of sand away, just left of the skip's green flank. The gap between skip and wall is still walkable, so I take another step in.",
+        "The skip's rim now crowds the right of my view while the ironwork sits just beyond it, close enough that its rungs and bracing read individually. Nothing stands between my feet and that footing, so I keep walking.",
+        "The gantry stand rises directly ahead against the workshop wall, its ladder and struts filling the upper middle of my view, with loose bricks scattered on the sand below it. Another step should put me within arm's reach of that footing.",
+        "Up this close the brick pier and window dominate the left of my view, and the iron stand has slid over to my right edge rather than sitting in front of me. I turn right to square onto its legs before stepping the last stretch.",
+        "The turn has set the iron stand back in the middle of my view, its bolted uprights running down to the sand between the wall and the skip. That short lane is clear, so I walk in toward the footing.",
+        "The riveted base plate and the lower brace of the stand are now plainly in front of me, sitting on the sand a couple of paces off with only a scatter of bricks between. I step forward again to stand right at that footing.",
+        "The lattice legs and their riveted strap now span my whole view, with the brick wall right behind them. One short step should carry me in among the legs and put me hard against the base.",
+        "I am standing in among the riveted legs of the gantry stand beside the workshop wall, its footing at my feet. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000918_y-002869_z000198_t0_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Go to the small green door beneath the concrete canopy on the weathered white building.",
+    "Type": 0,
+    "Start_Pose": [
+        918.263,
+        -2868.548,
+        198.157,
+        0.0,
+        31.68,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            918.263,
+            -2868.548,
+            198.157,
+            0.0,
+            31.68,
+            -0.0
+        ],
+        [
+            1025.368,
+            -2802.45,
+            198.148,
+            0.0,
+            31.68,
+            -0.0
+        ],
+        [
+            1132.474,
+            -2736.352,
+            198.148,
+            0.0,
+            31.68,
+            -0.0
+        ],
+        [
+            1132.474,
+            -2736.352,
+            198.148,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1201.61,
+            -2631.182,
+            198.148,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1270.746,
+            -2526.013,
+            198.148,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1339.882,
+            -2420.843,
+            198.148,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1409.018,
+            -2315.673,
+            198.148,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1409.018,
+            -2315.673,
+            198.148,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1427.23,
+            -2191.139,
+            198.148,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1445.442,
+            -2066.604,
+            198.148,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1445.442,
+            -2066.604,
+            198.148,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1514.579,
+            -1961.435,
+            198.148,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1583.715,
+            -1856.265,
+            198.766,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1652.851,
+            -1751.095,
+            223.446,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1721.987,
+            -1645.925,
+            205.781,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1721.987,
+            -1645.925,
+            205.781,
+            0.0,
+            56.68,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the initial task view I can pick out the small green door set back under a concrete canopy on the weathered white and brick building ahead, past the rubble and scattered bags in the courtyard. The ground straight in front of me is open, so I will step forward to begin closing the long distance to that doorway.",
+        "The green door under the canopy is now noticeably larger and sits a bit right of my center, and the way across the courtyard remains clear. I will keep walking forward to shorten the distance before making any heading correction.",
+        "My heading has drifted so the long white wall and its windows fill most of my view while the green door has slipped toward the right side. I will turn right to bring that doorway back toward the middle of my view before advancing further.",
+        "After the turn the green door under the concrete canopy sits closer to the center of my view, with the open courtyard and scattered pallets off to my right. I will move forward along this heading to close distance on the doorway.",
+        "The doorway and its concrete canopy are growing in front of me, and the bags and pallets remain to either side of my line rather than in it. Another step forward should keep shrinking the gap without needing a heading change yet.",
+        "The green door is clearly resolved now beneath its concrete lintel, slightly left of center as I walk along the weathered wall. The ground ahead is still passable, so I will advance again to get within a few steps of it.",
+        "I am close enough to make out the door's panels and the low steps in front of its recessed alcove, with a pile of bags stacked against the wall to my left. I will step forward once more to bring myself level with the canopy.",
+        "I am now running almost parallel to the weathered wall, with the bag pile and an open manhole cover crowding the ground close on my left and the door recessed in its alcove beside me rather than in front. I will turn right toward the open courtyard so I can move out from the wall and later face the doorway squarely instead of brushing along it.",
+        "The weathered white wall runs down the left side of my view, and the small green door under its heavy concrete canopy is set back in shadow at that wall. The open gravel yard ahead of me is clear of clutter, so I will step forward to close distance along the wall before squaring up to the door.",
+        "The green door and its canopy have grown larger at the left of my view, confirming I am closing on the right part of the building. The ground straight ahead is still open, so another step forward should bring me nearly level with the doorway.",
+        "I am now roughly abreast of the recessed green door, which sits off to my left while my heading points down the yard past it. I will turn left to bring the doorway and its concrete canopy into the center of my view for a straight approach.",
+        "The turn has put the small green door and the concrete canopy above it clearly in the middle-left of my view, with the shallow step and a wooden ladder lying on the ground in front. I will move forward to close the remaining distance toward the doorway.",
+        "The green door is noticeably nearer and its panels and frame are now distinct against the weathered white wall. Nothing blocks the short stretch of sandy ground ahead, so I continue forward toward it.",
+        "The green door now dominates the center of my view, with the concrete canopy overhead and the recess beside it in deep shadow. I will step forward again to bring myself directly in front of the door.",
+        "The weathered green door panel is only a step away and fills most of my view under its canopy. One more short advance should place me right at the door, close enough to count as arrived.",
+        "The weathered green door panel fills my view at arm's length beneath the canopy. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Approach to the rightmost red garage door.",
+    "Type": 2,
+    "Start_Pose": [
+        979.853,
+        -574.376,
+        205.277,
+        0.0,
+        48.96,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            979.853,
+            -574.376,
+            205.277,
+            0.0,
+            48.96,
+            -0.0
+        ],
+        [
+            1090.33,
+            -472.264,
+            203.613,
+            0.0,
+            48.96,
+            -0.0
+        ],
+        [
+            1172.967,
+            -377.334,
+            203.613,
+            0.0,
+            48.96,
+            -0.0
+        ],
+        [
+            1172.967,
+            -377.334,
+            203.613,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1207.743,
+            -256.375,
+            203.613,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1242.519,
+            -135.416,
+            218.023,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1277.295,
+            -14.457,
+            212.626,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1312.07,
+            106.502,
+            212.316,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1346.846,
+            227.462,
+            207.804,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1389.096,
+            338.735,
+            209.76,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1446.574,
+            444.557,
+            211.124,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1481.432,
+            565.489,
+            204.667,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1481.432,
+            565.489,
+            204.667,
+            0.0,
+            73.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Weathered red garage doors line the two walls of this yard, and counting across them, the one I want is the last on the right-hand wall, the one standing beside the green skip and the heap of rubbish bags. The open concrete between us is clear, so I step forward to start closing that gap.",
+        "The door beside the green skip and bag pile is still far down the yard and sits well to my right of my current heading. The paving ahead remains open, so I keep walking to cut distance before adjusting my heading.",
+        "My heading points at the inside corner where the two walls meet, while the door I am after, the one with the skip and rubbish bags beside it, lies off to my right. I will turn right so that door comes into the centre of my view for a straight approach.",
+        "The turn has brought the door with the faint painted 6 on the white pilaster beside it, the one flanked by the green skip and bag heap, into view ahead of me. The slabs between us are open, so I walk forward toward it.",
+        "The marked door has grown in my view, with the skip and rubbish bags still holding their place at its right, so I am tracking the one I picked. Nothing stands on the paving in my line, and I continue forward.",
+        "Several strides of open yard still lie between me and the door marked with the 6, and the bag pile sits clear of my walking line. I step forward again to keep closing on it.",
+        "The far end of the wall has slid out of my view as I close in, but the door with the 6 beside it and the bag heap at its right edge is plainly the one I chose. The ground in front of it is clear, so I keep advancing.",
+        "The marked door and its white pilaster now dominate my view, yet a couple of strides of paving still separate me from its face. I walk forward again to stand directly in front of it.",
+        "The painted 6 and the white pilaster beside my door fill the left of my view, and the bag heap sits off to my right, clear of my line. A little paving still separates me from the door face, so I step forward again.",
+        "The door's flaking red panel now spreads across most of my view, with the weeds at the base of the pilaster nearly within reach. I am close but not yet at the wall, so I advance once more.",
+        "Only the red panel and the white pilaster edge with its faint 6 remain in view, the ground below them barely a stride away. One more step should put me right up against the door face.",
+        "The flaking red door panel with the painted 6 on the pilaster beside it fills my view at arm's length. The approach is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_c/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Move to the green dumpster on the far right.",
+    "Type": 2,
+    "Start_Pose": [
+        979.853,
+        -574.376,
+        205.277,
+        0.0,
+        48.96,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            979.853,
+            -574.376,
+            205.277,
+            0.0,
+            48.96,
+            -0.0
+        ],
+        [
+            1007.692,
+            -567.193,
+            203.613,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1042.468,
+            -446.234,
+            203.613,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1077.244,
+            -325.275,
+            203.613,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1112.02,
+            -204.315,
+            203.613,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1146.796,
+            -83.356,
+            203.613,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1181.572,
+            37.603,
+            212.854,
+            0.0,
+            73.96,
+            -0.0
+        ],
+        [
+            1181.572,
+            37.603,
+            212.854,
+            0.0,
+            98.96,
+            -0.0
+        ],
+        [
+            1161.97,
+            161.926,
+            212.221,
+            0.0,
+            98.96,
+            -0.0
+        ],
+        [
+            1142.368,
+            286.249,
+            204.126,
+            0.0,
+            98.96,
+            -0.0
+        ],
+        [
+            1117.751,
+            388.324,
+            209.476,
+            0.0,
+            98.96,
+            -0.0
+        ],
+        [
+            1117.751,
+            388.324,
+            209.476,
+            0.0,
+            98.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Two green dumpsters stand along this yard, and the one I want is the far right one, a rust-lidded bin set against the brick wall with heaps of garbage bags piled beside it. It lies well to the right of my current heading, so I turn right to bring it in front of me.",
+        "The rust-lidded green dumpster with its bags now sits ahead of me, just right of center, but far across the open concrete. Nothing blocks the flat ground between us, so I walk forward to close that distance.",
+        "The lidded dumpster and the bags stacked at its side have grown noticeably larger and stay near the middle of my view, so my heading is still good. I keep walking forward to shorten the remaining gap.",
+        "The dumpster with the rusted peaked cover is clearly framed ahead, its bag piles now distinct on both sides. The ground in between is flat and clear, so I continue forward without adjusting my heading.",
+        "The other green bin has slipped out of my view at the left edge, but the rust-topped dumpster against the brick wall is the one I am tracking and it fills much more of my view now. I step forward again to keep closing.",
+        "The lidded dumpster now dominates the right side of my view and its rusted panels are readable from here. A few more paces should bring me right up beside it, so I walk forward.",
+        "At this range the dumpster has drifted off to the right half of my view, with the loading wall filling the left. I turn right to put the bin squarely in front of me before making the final approach.",
+        "The rust-lidded green dumpster is now centered ahead with its bag piles spread on either side, so my heading is right. Only a short stretch of gravel remains, so I step forward to reach it.",
+        "The dumpster's stenciled number and rusted peaked lid are readable from here, and it sits centered with only a couple of paces of gravel left. Bag piles flank it but leave the middle open, so I walk forward again.",
+        "The bin now looms over most of my view, its corrugated side and lid edge close enough to touch in another step. I move forward once more to stand right against it.",
+        "The rust-lidded green dumpster's flank fills my view at arm's length. I have reached it, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_d/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Navigate to the leftmost red garage door.",
+    "Type": 2,
+    "Start_Pose": [
+        979.853,
+        -574.376,
+        205.277,
+        0.0,
+        48.96,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            979.853,
+            -574.376,
+            205.277,
+            0.0,
+            48.96,
+            -0.0
+        ],
+        [
+            1007.692,
+            -567.193,
+            203.613,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1122.706,
+            -516.082,
+            203.613,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1237.72,
+            -464.971,
+            203.613,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1352.733,
+            -413.859,
+            203.613,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1467.747,
+            -362.748,
+            203.613,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1582.761,
+            -311.637,
+            203.613,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1582.761,
+            -311.637,
+            203.613,
+            0.0,
+            -1.04,
+            0.0
+        ],
+        [
+            1708.599,
+            -313.922,
+            203.613,
+            0.0,
+            -1.04,
+            0.0
+        ],
+        [
+            1834.437,
+            -316.206,
+            214.105,
+            0.0,
+            -1.04,
+            0.0
+        ],
+        [
+            1834.437,
+            -316.206,
+            214.105,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1881.797,
+            -323.403,
+            212.957,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1997.274,
+            -306.902,
+            209.456,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            2116.479,
+            -285.883,
+            211.386,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            2235.684,
+            -264.864,
+            213.683,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            2327.362,
+            -248.698,
+            212.422,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            2327.362,
+            -248.698,
+            212.422,
+            0.0,
+            23.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Scanning the long wall of red garage doors, I settle on the one at the far left end of the row, marked with a painted white 8 beside the canopy shelter. My body faces the middle of the courtyard, so that marked door sits off to my left. I will turn left to put it ahead of me.",
+        "The red door with the painted 8 now lies ahead of me across the open yard, with the rusty canopy and green skip just short of it. The paved ground in front is clear of obstacles. I will walk forward to close that distance.",
+        "The marked red door is still well ahead and only slightly larger in my view, so I am not yet near it. Nothing blocks the stretch of cracked paving directly in front of my feet. I keep walking forward toward that door.",
+        "The wall is growing steadily and the door carrying the 8 stands just left of the canopy roof ahead. There is still a good gap of yard to cover before I reach it. I advance again on the same line.",
+        "The canopy structure and the green skip now fill much of the middle ground, but the red door with the painted 8 remains visible just to their left. My heading still points at that part of the wall. I step forward once more.",
+        "I am close enough now that the canopy dominates my view, yet the faded 8 on the red door shows above and left of its roof. The ground ahead of me is still open, so I have room to keep closing in. I walk forward again.",
+        "The rusted canopy now sits squarely on my heading and would carry me past the wall section I want, while the door with the painted 8 has slipped to my left. Turning left should swing that bulk aside and put the marked door back on my line of travel.",
+        "The red door with the painted 8 is now ahead of me with the canopy pushed off to my right, so my heading is on it again. Open paving runs up to the low step at the base of that wall. I will move forward to close the remaining gap.",
+        "The painted 8 on the red panel stands clear ahead with the rusty canopy crowded off my right shoulder, and open paving leads to the low step at the wall's base. Nothing interrupts that line, so I stride forward again.",
+        "The marked door has slid into the right half of my view while empty alley, scaffolding and a far brick facade fill the left, so my heading is drifting past it. A small turn right should bring the painted 8 back onto my line before the final stretch.",
+        "The red panel with its 8 now sits square on my heading, and the green skip runs alongside my right without crossing my path. A short walk forward should take me over the paving toward the base of that door.",
+        "The panel and its white numeral loom larger, yet I am still out on the cracked slabs a few paces short of the wall. My line stays true along the skip's flank, so I continue walking in.",
+        "Individual seams and blistered paint on the red door are readable now, which puts me within a couple of strides of it. The ground between me and its base is still bare, so I press on.",
+        "The 8 has climbed toward the upper part of my view as the door's surface spreads across most of the frame, a sign I am nearly against it. One more step forward should close the last of that gap.",
+        "The flaking red surface and the painted 8 are barely an arm's length off, with only the skip's corner sharing the frame. A final short step should bring me flush with this door.",
+        "The blistered red surface of the door marked 8 fills my view at touching distance. I am standing at the intended door, so nothing further is needed."
+    ]
+}